相关论文: C3DM: Constrained-Context Conditional Diffusion Mo…

Imitation learning addresses the challenge of learning by observing an expert's demonstrations without access to reward signals from environments. Most existing imitation learning methods that do not require interacting with environments…

Recent research on robot manipulation based on Behavior Cloning (BC) has made significant progress. By combining diffusion models with BC, diffusion policiy has been proposed, enabling robots to quickly learn manipulation tasks with high…

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…

Learning from expert demonstrations is a promising approach for training robotic manipulation policies from limited data. However, imitation learning algorithms require a number of design choices ranging from the input modality, training…

Object manipulation is a common component of everyday tasks, but learning to manipulate objects from high-dimensional observations presents significant challenges. These challenges are heightened in multi-object environments due to the…

Imitation learning, particularly Diffusion Policies based methods, has recently gained significant traction in embodied AI as a powerful approach to action policy generation. These models efficiently generate action policies by learning to…

Diffusion models have emerged as powerful generative models in the text-to-image domain. This paper studies their application as observation-to-action models for imitating human behaviour in sequential environments. Human behaviour is…

Imitation Learning offers a promising approach to learn directly from data without requiring explicit models, simulations, or detailed task definitions. During inference, actions are sampled from the learned distribution and executed on the…

Classical methods in robot motion planning, such as sampling-based and optimization-based methods, often struggle with scalability towards higher-dimensional state spaces and complex environments. Diffusion models, known for their…

Behavior cloning (BC) is a popular supervised imitation learning method in the societies of robotics, autonomous driving, etc., wherein complex skills can be learned by direct imitation from expert demonstrations. Despite its rapid…

Motion planning and control are crucial components of robotics applications like automated driving. Here, spatio-temporal hard constraints like system dynamics and safety boundaries (e.g., obstacles) restrict the robot's motions. Direct…

Acting in human environments is a crucial capability for general-purpose robots, necessitating a robust understanding of natural language and its application to physical tasks. This paper seeks to harness the capabilities of diffusion…

The conditional diffusion model (CDM) enhances the standard diffusion model by providing more control, improving the quality and relevance of the outputs, and making the model adaptable to a wider range of complex tasks. However, inaccurate…

Robotic control policies learned from human demonstrations have achieved impressive results in many real-world applications. However, in scenarios where initial performance is not satisfactory, as is often the case in novel open-world…

Reinforcement learning (RL) struggles to scale to large, combinatorial action spaces common in many real-world problems. This paper introduces a novel framework for training discrete diffusion models as highly effective policies in these…

Diffusion models have been verified to be effective in generating complex distributions from natural images to motion trajectories. Recent diffusion-based methods show impressive performance in 3D robotic manipulation tasks, whereas they…

We present Bayesian Diffusion Models (BDM), a prediction algorithm that performs effective Bayesian inference by tightly coupling the top-down (prior) information with the bottom-up (data-driven) procedure via joint diffusion processes. We…

A core capability for robot manipulation is reasoning over where and how to stably place objects in cluttered environments. Traditionally, robots have relied on object-specific, hand-crafted heuristics in order to perform such reasoning,…

In this paper, a novel approach is proposed for learning robot control in contact-rich tasks such as wiping, by developing Diffusion Contact Model (DCM). Previous methods of learning such tasks relied on impedance control with time-varying…

Diffusion Policy (DP) enables robots to learn complex behaviors by imitating expert demonstrations through action diffusion. However, in practical applications, hardware limitations often degrade data quality, while real-time constraints…