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

This paper introduces innovative solutions to enhance spatial controllability in diffusion models reliant on text queries. We first introduce vision guidance as a foundational spatial cue within the perturbed distribution. This…

In this paper, we present DiffusionVLA, a novel framework that seamlessly combines the autoregression model with the diffusion model for learning visuomotor policy. Central to our approach is a next-token prediction objective, enabling the…

Diffusion policy has demonstrated promising performance in the field of robotic manipulation. However, its effectiveness has been primarily limited in short-horizon tasks, and its performance significantly degrades in the presence of image…

We address the problem of generating long-horizon videos for robotic manipulation tasks. Text-to-video diffusion models have made significant progress in photorealism, language understanding, and motion generation but struggle with…

Large language models can perform well on many isolated tasks, yet they continue to struggle on multi-turn, long-horizon agentic problems that require skills such as planning, state tracking, and long context processing. In this work, we…

Autoregressive Large Language Models (AR-LLMs) are widely used in software engineering (SE) but face limitations in processing code structure information and suffer from high inference latency. Diffusion LLMs (DLLMs) offer a promising…

Large Language Models (LLMs) have recently demonstrated impressive capabilities across various real-world applications. However, due to the current text-in-text-out paradigm, it remains challenging for LLMs to handle dynamic and complex…

In recent years roboticists have achieved remarkable progress in solving increasingly general tasks on dexterous robotic hardware by leveraging high capacity Transformer network architectures and generative diffusion models. Unfortunately,…

The efficiency of multi-agent systems driven by large language models (LLMs) largely hinges on their communication topology. However, designing an optimal topology is a non-trivial challenge, as it requires balancing competing objectives…

Intelligent access point (AP) deployment remains challenging in next-generation wireless networks due to complex indoor geometries and signal propagation. We firstly benchmark general-purpose large language models (LLMs) as agentic…

Diffusion-based large language models (dLLMs) are trained flexibly to model extreme dependence in the data distribution; however, how to best utilize this information at inference time remains an open problem. In this work, we uncover an…

Drawing upon recent advances in language model alignment, we formulate offline Reinforcement Learning as a two-stage optimization problem: First pretraining expressive generative policies on reward-free behavior datasets, then fine-tuning…

Recent advancements in large language models (LLMs) have significantly improved Natural Language to SQL (NL2SQL) tasks, yet most NL2SQL systems continue to rely on the autoregressive (AR) paradigm. The highly structured nature of SQL makes…

Vision-Language-Action (VLA) models are emerging as a next-generation paradigm for robotics. We introduce dVLA, a diffusion-based VLA that leverages a multimodal chain-of-thought to unify visual perception, language reasoning, and robotic…

Learning-based 3D Scanning plays a crucial role in enabling efficient and accurate scanning of target objects. However, recent reinforcement learning-based methods often require large-scale training data and still struggle to generalize to…

We introduce Diffusion Augmented Agents (DAAG), a novel framework that leverages large language models, vision language models, and diffusion models to improve sample efficiency and transfer learning in reinforcement learning for embodied…

Constructing robots to accomplish long-horizon tasks is a long-standing challenge within artificial intelligence. Approaches using generative methods, particularly Diffusion Models, have gained attention due to their ability to model…

Goal-oriented dialogue systems face a trade-off between fluent language generation and task-specific control. While supervised learning with large language models is capable of producing realistic text, how to steer such responses towards…

Diffusion models have emerged as the leading paradigm in generative modeling, excelling in various applications. Despite their success, these models often misalign with human intentions and generate results with undesired properties or even…

Robotic manipulation faces a significant challenge in generalizing across unseen objects, environments and tasks specified by diverse language instructions. To improve generalization capabilities, recent research has incorporated large…