相关论文: Language Control Diffusion: Efficiently Scaling th…

Recently, diffusion models have excelled in image generation tasks and have also been applied to neural language processing (NLP) for controllable text generation. However, the application of diffusion models in a cross-lingual setting is…

Diffusion models have demonstrated strong generative capabilities across domains ranging from image synthesis to complex reasoning tasks. However, most inference-time scaling methods rely on fixed denoising schedules, limiting their ability…

While pre-trained visual representations have significantly advanced imitation learning, they are often task-agnostic as they remain frozen during policy learning. In this work, we explore leveraging pre-trained text-to-image diffusion…

Autoregressive (AR) vision-language models (VLMs) have long dominated multimodal understanding, reasoning, and graphical user interface (GUI) grounding. Recently, discrete diffusion vision-language models (DVLMs) have shown strong…

General-purpose robots coexisting with humans in their environment must learn to relate human language to their perceptions and actions to be useful in a range of daily tasks. Moreover, they need to acquire a diverse repertoire of…

Unlike autoregressive language models, which terminate variable-length generation upon predicting an End-of-Sequence (EoS) token, Diffusion Language Models (DLMs) operate over a fixed maximum-length context window for a predetermined number…

Diffusion-based policies show limited generalization in semantic manipulation, posing a key obstacle to the deployment of real-world robots. This limitation arises because relying solely on text instructions is inadequate to direct the…

Recent statistical approaches have improved the robustness and scalability of spoken dialogue systems. However, despite recent progress in domain adaptation, their reliance on in-domain data still limits their cross-domain scalability. In…

Despite recent advances in dexterous manipulations, the manipulation of articulated objects and generalization across different categories remain significant challenges. To address these issues, we introduce DART, a novel framework that…

Classifiers are important components in many computer vision tasks, serving as the foundational backbone of a wide variety of models employed across diverse applications. However, understanding the decision-making process of classifiers…

Diffusion models have become popular for policy learning in robotics due to their ability to capture high-dimensional and multimodal distributions. However, diffusion policies are stochastic and typically trained offline, limiting their…

Coordinating multiple autonomous agents in shared environments under decentralized conditions is a long-standing challenge in robotics and artificial intelligence. This work addresses the problem of decentralized goal assignment for…

Improving the effectiveness and efficiency of large language models (LLMs) simultaneously is a critical yet challenging research goal. In this paper, we find that low-rank pre-training, normally considered as efficient methods that will…

Agent-based social simulation provides a valuable methodology for predicting social information diffusion, yet existing approaches face two primary limitations. Traditional agent models often rely on rigid behavioral rules and lack semantic…

A fundamental objective of manipulation policy design is to endow robots to comprehend human instructions, reason about scene cues, and execute generalized actions in dynamic environments. Recent autoregressive vision-language-action (VLA)…

Diffusion language models offer unique benefits over autoregressive models due to their potential for parallelized generation and controllability, yet they lag in likelihood modeling and are limited to fixed-length generation. In this work,…

This paper's primary objective is to develop a robust generalist perception model capable of addressing multiple tasks under constraints of computational resources and limited training data. We leverage text-to-image diffusion models…

The planning ability of Large Language Models (LLMs) has garnered increasing attention in recent years due to their remarkable capacity for multi-step reasoning and their ability to generalize across a wide range of domains. While some…

The generation and editing of floor plans are critical in architectural planning, requiring a high degree of flexibility and efficiency. Existing methods demand extensive input information and lack the capability for interactive adaptation…

Machine learning models struggle with generalization when encountering out-of-distribution (OOD) samples with unexpected distribution shifts. For vision tasks, recent studies have shown that test-time adaptation employing diffusion models…