相关论文: FabricFlowNet: Bimanual Cloth Manipulation with a …

Generative manipulation policies can fail catastrophically under deployment-time distribution shift, yet many failures are near-misses: the robot reaches almost-correct poses and would succeed with a small corrective motion. We propose…

Offline reinforcement learning often relies on behavior regularization that enforces policies to remain close to the dataset distribution. However, such approaches fail to distinguish between high-value and low-value actions in their…

Manipulating deformable objects, such as fabric, is a long standing problem in robotics, with state estimation and control posing a significant challenge for traditional methods. In this paper, we show that it is possible to learn fabric…

Generative Flow Networks (GFlowNets), a new family of probabilistic samplers, have recently emerged as a promising framework for learning stochastic policies that generate high-quality and diverse objects proportionally to their rewards.…

Robotic manipulation in high-precision tasks is essential for numerous industrial and real-world applications where accuracy and speed are required. Yet current diffusion-based policy learning methods generally suffer from low computational…

In the fast-fashion industry, overproduction and unsold inventory create significant environmental problems. Precise sales forecasts for unreleased items could drastically improve the efficiency and profits of industries. However,…

Optical flow, which expresses pixel displacement, is widely used in many computer vision tasks to provide pixel-level motion information. However, with the remarkable progress of the convolutional neural network, recent state-of-the-art…

The field of general-purpose robotics has recently embraced powerful probabilistic diffusion-based models to learn the complex embodiment behaviours. However, existing models often come with significant trade-offs, namely high computational…

We present a general framework for the garment animation problem through unsupervised deep learning inspired in physically based simulation. Existing trends in the literature already explore this possibility. Nonetheless, these approaches…

Recent advances in digital avatar technology have enabled the generation of compelling virtual characters, but deploying these avatars on compute-constrained devices poses significant challenges for achieving realistic garment deformations.…

Video Diffusion Models (VDMs) can generate high-quality videos, but often struggle with producing temporally coherent motion. Optical flow supervision is a promising approach to address this, with prior works commonly employing…

Many score-based active learning methods have been successfully applied to graph-structured data, aiming to reduce the number of labels and achieve better performance of graph neural networks based on predefined score functions. However,…

Manipulating garments and fabrics has long been a critical endeavor in the development of home-assistant robots. However, due to complex dynamics and topological structures, garment manipulations pose significant challenges. Recent…

We explore the oscillatory behavior observed in inversion methods applied to large-scale text-to-image diffusion models, with a focus on the "Flux" model. By employing a fixed-point-inspired iterative approach to invert real-world images,…

Goal-conditioned policy learning for robotic manipulation presents significant challenges in maintaining performance across diverse objectives and environments. We introduce Hyper-GoalNet, a framework that generates task-specific policy…

Image-based virtual try-on is challenging since the generated image should fit the garment to model images in various poses and keep the characteristics and details of the garment simultaneously. A popular research stream warps the garment…

We present OOTDiffusion, a novel network architecture for realistic and controllable image-based virtual try-on (VTON). We leverage the power of pretrained latent diffusion models, designing an outfitting UNet to learn the garment detail…

Generative flow networks (GFlowNets) are a method for learning a stochastic policy for generating compositional objects, such as graphs or strings, from a given unnormalized density by sequences of actions, where many possible action…

Significant progress has been made for estimating optical flow using deep neural networks. Advanced deep models achieve accurate flow estimation often with a considerable computation complexity and time-consuming training processes. In this…

We present GFlowState, a visual analytics system designed to illuminate the training process of Generative Flow Networks (GFlowNets or GFNs). GFlowNets are a probabilistic framework for generating samples proportionally to a reward…