Related papers: Contractive Diffusion Policies: Robust Action Diff…
Striking a balance between efficiency and transparent motion is a core challenge in human-robot collaboration, as highly expressive movements often incur unnecessary time and energy costs. In collaborative environments, legibility allows a…
Diffusion models are a class of probabilistic generative models that have been widely used as a prior for image processing tasks like text conditional generation and inpainting. We demonstrate that these models can be adapted to make…
We propose DiffusionRollout, a novel selective rollout planning strategy for autoregressive diffusion models, aimed at mitigating error accumulation in long-horizon predictions of physical systems governed by partial differential equations…
In this paper, we propose a novel approach called DIffusion-guided DIversity (DIDI) for offline behavioral generation. The goal of DIDI is to learn a diverse set of skills from a mixture of label-free offline data. We achieve this by…
Reinforcement learning (RL) has achieved remarkable success in a wide range of sequential decision-making problems. Recent diffusion-based policies further improve RL by modeling complex, high-dimensional action distributions. However,…
Distributed diffusion is a powerful algorithm for multi-task state estimation which enables networked agents to interact with neighbors to process input data and diffuse information across the network. Compared to a centralized approach,…
We propose a new policy representation based on score-based diffusion models (SDMs). We apply our new policy representation in the domain of Goal-Conditioned Imitation Learning (GCIL) to learn general-purpose goal-specified policies from…
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 (DMs), also referred to as score-based diffusion models, utilize neural networks to specify score functions. Unlike most other probabilistic models, DMs directly model the score functions, which makes them more flexible to…
We aim to solve the problem of generating coarse-to-fine skills learning from demonstrations (LfD). To scale precision, traditional LfD approaches often rely on extensive fine-grained demonstrations with external interpolations or dynamics…
The performance of offline reinforcement learning (RL) is sensitive to the proportion of high-return trajectories in the offline dataset. However, in many simulation environments and real-world scenarios, there are large ratios of…
Offline Goal-Conditioned Reinforcement Learning (Offline GCRL) is an important problem in RL that focuses on acquiring diverse goal-oriented skills solely from pre-collected behavior datasets. In this setting, the reward feedback is…
Diffusion models are a class of flexible generative models trained with an approximation to the log-likelihood objective. However, most use cases of diffusion models are not concerned with likelihoods, but instead with downstream objectives…
Diffusion-based trajectory planners can synthesize rich, multimodal action sequences for offline reinforcement learning, but their iterative denoising incurs substantial inference-time cost, making closed-loop planning slow under tight…
This paper introduces Diffusion Policy, a new way of generating robot behavior by representing a robot's visuomotor policy as a conditional denoising diffusion process. We benchmark Diffusion Policy across 12 different tasks from 4…
In autonomous driving tasks, trajectory prediction in complex traffic environments requires adherence to real-world context conditions and behavior multimodalities. Existing methods predominantly rely on prior assumptions or generative…
Diffusion models, praised for their success in generative tasks, are increasingly being applied to robotics, demonstrating exceptional performance in behavior cloning. However, their slow generation process stemming from iterative denoising…
Diffusion models have become a successful approach for solving various image inverse problems by providing a powerful diffusion prior. Many studies tried to combine the measurement into diffusion by score function replacement, matrix…
Diffusion policies (DP) have demonstrated significant potential in visual navigation by capturing diverse multi-modal trajectory distributions. However, standard imitation learning (IL), which most DP methods rely on for training, often…
This paper introduces an approach for learning to solve continuous constraint satisfaction problems (CCSP) in robotic reasoning and planning. Previous methods primarily rely on hand-engineering or learning generators for specific constraint…