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

Imitation learning for robotic manipulation often suffers from limited generalization and data scarcity, especially in complex, long-horizon tasks. In this work, we introduce a hierarchical framework that leverages code-generating…

Recent end-to-end robotic manipulation research increasingly adopts architectures inspired by large language models to enable robust manipulation. However, a critical challenge arises from severe distribution shifts between robotic action…

Recently, Vision-Language-Action models (VLA) have advanced robot imitation learning, but high data collection costs and limited demonstrations hinder generalization and current imitation learning methods struggle in out-of-distribution…

Recent large language models (LLMs) have demonstrated strong reasoning capabilities that benefits from online reinforcement learning (RL). These capabilities have primarily been demonstrated within the left-to-right autoregressive (AR)…

Text-to-Image (T2I) diffusion/flow models have recently achieved remarkable progress in visual fidelity and text alignment. However, they remain limited when users need to precisely control image layouts, something that natural language…

Diffusion models have demonstrated remarkable efficacy in various generative tasks with the predictive prowess of denoising model. Currently, diffusion models employ a uniform denoising model across all timesteps. However, the inherent…

We present Diffuse-CLoC, a guided diffusion framework for physics-based look-ahead control that enables intuitive, steerable, and physically realistic motion generation. While existing kinematics motion generation with diffusion models…

Efficiently predicting motion plans directly from vision remains a fundamental challenge in robotics, where planning typically requires explicit goal specification and task-specific design. Recent vision-language-action (VLA) models infer…

Diffusion Large Language Models (dLLMs) are rapidly emerging alongside autoregressive models as a powerful paradigm for complex reasoning, with reinforcement learning increasingly used for downstream alignment. Existing trajectory-based RL…

Generating high-quality structured data such as JSON records, remains a fundamental challenge for large language models (LLMs), particularly when semantic richness must coexist with strict schema adherence. While autoregressive LLMs offer…

A major bottleneck for building statistical spoken dialogue systems for new domains and applications is the need for large amounts of training data. To address this problem, we adopt the multi-dimensional approach to dialogue management and…

Processing long contexts has become a critical capability for modern large language models (LLMs). Existing works leverage agent-based divide-and-conquer methods for processing long contexts. But these methods face crucial limitations,…

The paper studies distributed Dictionary Learning (DL) problems where the learning task is distributed over a multi-agent network with time-varying (nonsymmetric) connectivity. This formulation is relevant, for instance, in big-data…

Most multi-agent systems rely exclusively on autoregressive language models (ARMs) that are based on sequential generation. Although effective for fluent text, ARMs limit global reasoning and plan revision. On the other hand, Discrete…

Synthetic tabular data generation has attracted growing attention due to its importance for data augmentation, foundation models, and privacy. However, real-world tabular datasets increasingly contain free-form text fields (e.g., reviews or…

Language-guided long-horizon manipulation of deformable objects presents significant challenges due to high degrees of freedom, complex dynamics, and the need for accurate vision-language grounding. In this work, we focus on multi-step…

Recently, diffusion models have achieved great success in image synthesis. However, when it comes to the layout-to-image generation where an image often has a complex scene of multiple objects, how to make strong control over both the…

Scaling test time compute has shown remarkable success in improving the reasoning abilities of large language models (LLMs). In this work, we conduct the first systematic exploration of applying test-time scaling methods to language agents…

Diffusion Language Models (DLMs) present a compelling alternative to autoregressive models, offering flexible, any-order infilling without specialized prompting design. However, their practical utility is blocked by a critical limitation:…

Latent Diffusion Models (LDMs) enable high-quality image synthesis while avoiding excessive compute demands by training a diffusion model in a compressed lower-dimensional latent space. Here, we apply the LDM paradigm to high-resolution…