Related papers: Ada3Drift: Adaptive Training-Time Drifting for One…

Recent advances in 4D generation mainly focus on generating 4D content by distilling pre-trained text or single-view image-conditioned models. It is inconvenient for them to take advantage of various off-the-shelf 3D assets with multi-view…

We propose DemoDiffusion, a simple method for enabling robots to perform manipulation tasks by imitating a single human demonstration, without requiring task-specific training or paired human-robot data. Our approach is based on two…

The human-like form of humanoid robots positions them uniquely to achieve the agility and versatility in motor skills that humans possess. Learning from human demonstrations offers a scalable approach to acquiring these capabilities.…

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…

Given a dataset of expert trajectories, standard imitation learning approaches typically learn a direct mapping from observations (e.g., RGB images) to actions. However, such methods often overlook the rich interplay between different…

Data-driven and controllable human motion synthesis and prediction are active research areas with various applications in interactive media and social robotics. Challenges remain in these fields for generating diverse motions given past…

Drift diffusion models (DDMs) have found widespread use in computational neuroscience and other fields. They model evidence accumulation in simple decision tasks as a stochastic process drifting towards a decision barrier. In models where…

Acting in human environments is a crucial capability for general-purpose robots, necessitating a robust understanding of natural language and its application to physical tasks. This paper seeks to harness the capabilities of diffusion…

Multi-object tracking (MOT) is a fundamental task in computer vision with critical applications in autonomous driving and robotics. Multimodal MOT that integrates visible light and thermal infrared information is particularly essential for…

Generative modeling of physical systems, such as molecules, requires learning distributions that are invariant under global symmetries, such as rotations in three-dimensional space. Equivariant diffusion and flow matching models can…

Diffusion Policy is a powerful technique tool for learning end-to-end visuomotor robot control. It is expected that Diffusion Policy possesses scalability, a key attribute for deep neural networks, typically suggesting that increasing model…

Diffusion models (DMs) have shown promising results on single-image super-resolution and other image-to-image translation tasks. Benefiting from more computational resources and longer inference times, they are able to yield more realistic…

We consider the problem of using diffusion models to generate fast, smooth, and temporally consistent robot motions. Although diffusion models have demonstrated superior performance in robot learning due to their task scalability and…

Transfer learning of diffusion models to smaller target domains is challenging, as naively fine-tuning the model often results in poor generalization. Test-time guidance methods help mitigate this by offering controllable improvements in…

Diffusion models, as a class of deep generative models, have recently emerged as powerful tools for robot skills by enabling stable training with reliable convergence. In this paper, we present an end-to-end framework for generating long,…

Diffusion-based methods have been acknowledged as a powerful paradigm for end-to-end visuomotor control in robotics. Most existing approaches adopt a Diffusion Policy in U-Net architecture (DP-U), which, while effective, suffers from…

Dexterous manipulation with contact-rich interactions is crucial for advanced robotics. While recent diffusion-based planning approaches show promise for simple manipulation tasks, they often produce unrealistic ghost states (e.g., the…

Redundant manipulators, with their higher Degrees of Freedom (DoFs), offer enhanced kinematic performance and versatility, making them suitable for applications like manufacturing, surgical robotics, and human-robot collaboration. However,…

While existing equivariant methods enhance data efficiency, they suffer from high computational intensity, reliance on single-modality inputs, and instability when combined with fast-sampling methods. In this work, we propose E3Flow, a…

Goal-conditioned dynamic manipulation is inherently challenging due to complex system dynamics and stringent task constraints, particularly in deformable object scenarios characterized by high degrees of freedom and underactuation. Prior…