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Robustness to modeling errors and uncertainties remains a central challenge in reinforcement learning (RL). In this work, we address this challenge by leveraging diffusion models to train robust RL policies. Diffusion models have recently…
Generalizing locomotion policies across diverse legged robots with varying morphologies is a key challenge due to differences in observation/action dimensions and system dynamics. In this work, we propose Multi-Loco, a novel unified…
Generating the motion of orchestral conductors from a given piece of symphony music is a challenging task since it requires a model to learn semantic music features and capture the underlying distribution of real conducting motion. Prior…
In this paper, we present DiffusionVLA, a novel framework that seamlessly combines the autoregression model with the diffusion model for learning visuomotor policy. Central to our approach is a next-token prediction objective, enabling the…
Sequence modeling approaches have shown promising results in robot imitation learning. Recently, diffusion models have been adopted for behavioral cloning in a sequence modeling fashion, benefiting from their exceptional capabilities in…
Diffusion models have fundamentally transformed the field of generative models, making the assessment of similarity between customized model outputs and reference inputs critically important. However, traditional perceptual similarity…
Diffusion models are powerful tools for sampling from high-dimensional distributions by progressively transforming pure noise into structured data through a denoising process. When equipped with a guidance mechanism, these models can also…
Since the advent of popular visual generation frameworks like VQGAN and latent diffusion models, state-of-the-art image generation systems have generally been two-stage systems that first tokenize or compress visual data into a…
Aligning large language models with human preferences has emerged as a critical focus in language modeling research. Yet, integrating preference learning into Text-to-Image (T2I) generative models is still relatively uncharted territory.…
Diffusion models typically generate data through a fixed denoising trajectory that is shared across all samples. However, generation targets can differ in complexity, suggesting that a single pre-defined diffusion process may not be optimal…
Diffusion Probabilistic Models (DPMs) have achieved significant success in generative tasks. However, their training and sampling processes suffer from the issue of distribution mismatch. During the denoising process, the input data…
The advancements in generative modeling, particularly the advent of diffusion models, have sparked a fundamental question: how can these models be effectively used for discriminative tasks? In this work, we find that generative models can…
Although autoregressive models have dominated language modeling in recent years, there has been a growing interest in exploring alternative paradigms to the conventional next-token prediction framework. Diffusion-based language models have…
Diffusion models (DMs) have become the new trend of generative models and have demonstrated a powerful ability of conditional synthesis. Among those, text-to-image diffusion models pre-trained on large-scale image-text pairs are highly…
Machine learning methods, such as diffusion models, are widely explored as a promising way to accelerate high-fidelity fluid dynamics computation via a super-resolution process from faster-to-compute low-fidelity input. However, existing…
We hypothesize that a key bottleneck in generalizable robot manipulation is not solely data scale or policy capacity, but a structural mismatch between current visual backbones and the physical requirements of closed-loop control. While…
In the context of continuously rising global air traffic, efficient and safe Conflict Detection and Resolution (CD&R) is paramount for air traffic management. Although Deep Reinforcement Learning (DRL) offers a promising pathway for CD&R…
Generative models, particularly diffusion models, have achieved remarkable success in density estimation for multimodal data, drawing significant interest from the reinforcement learning (RL) community, especially in policy modeling in…
The task of Image-to-Video (I2V) generation aims to synthesize a video from a reference image and a text prompt. This requires diffusion models to reconcile high-frequency visual constraints and low-frequency textual guidance during the…
Diffusion Probabilistic Models (DPMs) have recently demonstrated impressive results on various generative tasks.Despite its promises, the learned representations of pre-trained DPMs, however, have not been fully understood. In this paper,…