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We present AnchorDP3, a diffusion policy framework for dual-arm robotic manipulation that achieves state-of-the-art performance in highly randomized environments. AnchorDP3 integrates three key innovations: (1) Simulator-Supervised Semantic…
While mobile devices provide ever more compute power, improvements in DRAM bandwidth are much slower. This is unfortunate for large language model (LLM) token generation, which is heavily memory-bound. Previous work has proposed to leverage…
Bimanual manipulation is crucial in robotics, enabling complex tasks in industrial automation and household services. However, it poses significant challenges due to the high-dimensional action space and intricate coordination requirements.…
We introduce the Fixed Point Diffusion Model (FPDM), a novel approach to image generation that integrates the concept of fixed point solving into the framework of diffusion-based generative modeling. Our approach embeds an implicit fixed…
Humans can accomplish complex contact-rich tasks using vision and touch, with highly reactive capabilities such as fast response to external changes and adaptive control of contact forces; however, this remains challenging for robots.…
Diffusion Transformers (DiTs) excel at visual generation yet remain hampered by slow sampling. Existing training-free accelerators - step reduction, feature caching, and sparse attention - enhance inference speed but typically rely on a…
We propose DiFFPO, Diffusion Fast and Furious Policy Optimization, a unified framework for training masked diffusion large language models (dLLMs) to reason not only better (furious), but also faster via reinforcement learning (RL). We…
With the emergence of a spectrum of high-end mobile devices, many applications that formerly required desktop-level computation capability are being transferred to these devices. However, executing the inference of Deep Neural Networks…
Diffusion models have demonstrated highly-expressive generative capabilities in vision and NLP. Recent studies in reinforcement learning (RL) have shown that diffusion models are also powerful in modeling complex policies or trajectories in…
In recent years roboticists have achieved remarkable progress in solving increasingly general tasks on dexterous robotic hardware by leveraging high capacity Transformer network architectures and generative diffusion models. Unfortunately,…
Diffusion models have recently emerged as expressive policy representations for online reinforcement learning (RL). However, their iterative generative processes introduce substantial training and inference overhead. To overcome this…
Recent advancements in image motion deblurring, driven by CNNs and transformers, have made significant progress. Large-scale pre-trained diffusion models, which are rich in real-world modeling, have shown great promise for high-quality…
Diffusion models are the go-to method for Text-to-Image generation, but their iterative denoising processes has high inference latency. Quantization reduces compute time by using lower bitwidths, but applies a fixed precision across all…
Diffusion-based large multimodal models, such as LLaDA-V, have demonstrated impressive capabilities in vision-language understanding and generation. However, their bidirectional attention mechanism and diffusion-style iterative denoising…
We propose MADP, a novel diffusion-model-based approach for collaboration in decentralized robot swarms. MADP leverages diffusion models to generate samples from complex and high-dimensional action distributions that capture the…
Image super-resolution is a fundamentally ill-posed problem because multiple valid high-resolution images exist for one low-resolution image. Super-resolution methods based on diffusion probabilistic models can deal with the ill-posed…
In this paper, a novel approach is proposed for learning robot control in contact-rich tasks such as wiping, by developing Diffusion Contact Model (DCM). Previous methods of learning such tasks relied on impedance control with time-varying…
Generative model-based policies have shown strong performance in imitation-based robotic manipulation by learning action distributions from demonstrations. However, in long-horizon tasks, visually similar observations often recur across…
In-Context Learning and Chain-of-Thought prompting improve reasoning in large language models (LLMs). These typically come at the cost of longer, more expensive prompts that may contain redundant information. Prompt compression based on…
Recent advances in diffusion models hold significant potential in robotics, enabling the generation of diverse and smooth trajectories directly from raw representations of the environment. Despite this promise, applying diffusion models to…