相关论文: 3D Diffuser Actor: Policy Diffusion with 3D Scene …

This paper introduces Diffusion Policy, a new way of generating robot behavior by representing a robot's visuomotor policy as a conditional denoising diffusion process. We benchmark Diffusion Policy across 12 different tasks from 4…

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…

We present 3D FlowMatch Actor (3DFA), a 3D policy architecture for robot manipulation that combines flow matching for trajectory prediction with 3D pretrained visual scene representations for learning from demonstration. 3DFA leverages 3D…

We introduce SceneDiffuser, a conditional generative model for 3D scene understanding. SceneDiffuser provides a unified model for solving scene-conditioned generation, optimization, and planning. In contrast to prior works, SceneDiffuser is…

Diffusion policies excel at learning complex action distributions for robotic visuomotor tasks, yet their iterative denoising process poses a major bottleneck for real-time deployment. Existing acceleration methods apply a fixed number of…

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…

Robotic manipulation tasks often rely on static cameras for perception, which can limit flexibility, particularly in scenarios like robotic surgery and cluttered environments where mounting static cameras is impractical. Ideally, robots…

Whole-body control of robotic manipulators with awareness of full-arm kinematics is crucial for many manipulation scenarios involving body collision avoidance or body-object interactions, which makes it insufficient to consider only the…

Diffusion-based models for robotic control, including vision-language-action (VLA) and vision-action (VA) policies, have demonstrated significant capabilities. Yet their advancement is constrained by the high cost of acquiring large-scale…

Learning robust visuomotor policies that generalize across diverse objects and interaction dynamics remains a central challenge in robotic manipulation. Most existing approaches rely on direct observation-to-action mappings or compress…

Intelligent surgical robots have the potential to revolutionize clinical practice by enabling more precise and automated surgical procedures. However, the automation of such robot for surgical tasks remains under-explored compared to recent…

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…

Diffusion models have seen rapid adoption in robotic imitation learning, enabling autonomous execution of complex dexterous tasks. However, action synthesis is often slow, requiring many steps of iterative denoising, limiting the extent to…

We present a method that reduces, by an order of magnitude, the time and memory needed to train multi-task vision-language robotic diffusion policies. This improvement arises from a previously underexplored distinction between action…

Diffusion models have demonstrated remarkable capabilities in image generation tasks, including image editing and video creation, representing a good understanding of the physical world. On the other line, diffusion models have also shown…

This paper investigates the application of Diffusion Policy in non-stationary, vision-based RL settings, specifically targeting environments where task dynamics and objectives evolve over time. Our work is grounded in practical challenges…

Imitation Learning presents a promising approach for learning generalizable and complex robotic skills. The recently proposed Diffusion Policy generates robot action sequences through a conditional denoising diffusion process, achieving…

Diffusion policies are powerful visuomotor models for robotic manipulation, yet they often fail to generalize to manipulators or end-effectors unseen during training and struggle to accommodate new task requirements at inference time.…

Collaborative 3D object detection holds significant importance in the field of autonomous driving, as it greatly enhances the perception capabilities of each individual agent by facilitating information exchange among multiple agents.…

Robust perception and dynamics modeling are fundamental to real-world robotic policy learning. Recent methods employ video diffusion models (VDMs) to enhance robotic policies, improving their understanding and modeling of the physical…