Related papers: Frequency-Guided Action Diffusion via Sub-Frequenc…
Latent video diffusion models generate videos by progressively transforming Gaussian noise into realistic samples conditioned on text or visual inputs. However, existing conditioning methods often require additional training and…
Recent advances in imitation learning, particularly using generative modelling techniques like diffusion, have enabled policies to capture complex multi-modal action distributions. However, these methods often require large datasets and…
Imitation learning provides an efficient way to teach robots dexterous skills; however, learning complex skills robustly and generalizablely usually consumes large amounts of human demonstrations. To tackle this challenging problem, we…
Diffusion-based methods represented as stochastic differential equations on a continuous-time domain have recently proven successful as a non-adversarial generative model. Training such models relies on denoising score matching, which can…
Animating virtual avatars to make co-speech gestures facilitates various applications in human-machine interaction. The existing methods mainly rely on generative adversarial networks (GANs), which typically suffer from notorious mode…
Diffusion models have been shown to implicitly generate visual content autoregressively in the frequency domain, where low-frequency components are generated earlier in the denoising process while high-frequency details emerge only in later…
We introduce Diffusion Policy Policy Optimization, DPPO, an algorithmic framework including best practices for fine-tuning diffusion-based policies (e.g. Diffusion Policy) in continuous control and robot learning tasks using the policy…
We present a method to generate video-action pairs that follow text instructions, starting from an initial image observation and the robot's joint states. Our approach automatically provides action labels for video diffusion models,…
The rapid advancement of diffusion models has significantly improved high-quality image generation, making generated content increasingly challenging to distinguish from real images and raising concerns about potential misuse. In this…
Current video diffusion models generate visually compelling content but often violate basic laws of physics, producing subtle artifacts like rubber-sheet deformations and inconsistent object motion. We introduce a frequency-domain physics…
Shared autonomy in driving requires anticipating human behavior, flagging risk before it becomes unavoidable, and transferring control safely and smoothly. We propose Diffusion-SAFE, a closed-loop framework built on two diffusion models: an…
Employing a forward diffusion chain to gradually map the data to a noise distribution, diffusion-based generative models learn how to generate the data by inferring a reverse diffusion chain. However, this approach is slow and costly…
Temporal sequential tasks challenge humanoid robots, as existing Diffusion Policy (DP) and Action Chunking with Transformers (ACT) methods often lack temporal context, resulting in local optima traps and excessive repetitive actions. To…
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…
Diffusion-based imitation learning improves Behavioral Cloning (BC) on multi-modal decision-making, but comes at the cost of significantly slower inference due to the recursion in the diffusion process. It urges us to design efficient…
Generative modeling aims to transform random noise into structured outputs. In this work, we enhance video diffusion models by allowing motion control via structured latent noise sampling. This is achieved by just a change in data: we…
Classifier-Free Guidance (CFG) is a widely used inference-time technique to boost the image quality of diffusion models. Yet, its reliance on text conditions prevents its use in unconditional generation. We propose a simple method to enable…
Neural diffusion processes provide a scalable, non-Gaussian approach to modelling distributions over functions, but existing formulations are limited to single-task inference and do not capture dependencies across related tasks. In many…
Classifier-Free Guidance (CFG) serves as the de facto control mechanism for conditional diffusion, yet high guidance scales notoriously induce oversaturation, texture artifacts, and structural collapse. We attribute this failure to a…
Reinforcement learning (RL) has been extensively employed in a wide range of decision-making problems, such as games and robotics. Recently, diffusion policies have shown strong potential in modeling multi-modal behaviors, enabling more…