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

We present PoseDiff, a conditional diffusion model that unifies robot state estimation and control within a single framework. At its core, PoseDiff maps raw visual observations into structured robot states-such as 3D keypoints or joint…

Accurate modeling of robot dynamics is essential for model-based control, yet remains challenging under distributional shifts and real-time constraints. In this work, we formulate system identification as an in-context meta-learning problem…

Diffusion-based robot navigation policies trained on large-scale imitation learning datasets, can generate multi-modal trajectories directly from the robot's visual observations, bypassing the traditional localization-mapping-planning…

Diffusion-based policies have shown remarkable capability in executing complex robotic manipulation tasks but lack explicit characterization of geometry and semantics, which often limits their ability to generalize to unseen objects and…

Deploying large, complex policies in the real world requires the ability to steer them to fit the needs of a situation. Most common steering approaches, like goal-conditioning, require training the robot policy with a distribution of…

In offline reinforcement learning, it is necessary to manage out-of-distribution actions to prevent overestimation of value functions. One class of methods, the policy-regularized method, addresses this problem by constraining the target…

Visual-motor policy learning has advanced with architectures like diffusion-based policies, known for modeling complex robotic trajectories. However, their prolonged inference times hinder high-frequency control tasks requiring real-time…

Learning from unstructured and uncurated data has become the dominant paradigm for generative approaches in language and vision. Such unstructured and unguided behavior data, commonly known as play, is also easier to collect in robotics but…

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…

Recent developments in offline reinforcement learning have uncovered the immense potential of diffusion modeling, which excels at representing heterogeneous behavior policies. However, sampling from diffusion policies is considerably slow…

Learning visuomotor policy for multi-task robotic manipulation has been a long-standing challenge for the robotics community. The difficulty lies in the diversity of action space: typically, a goal can be accomplished in multiple ways,…

Accurately predicting 3D occupancy grids from visual inputs is critical for autonomous driving, but current discriminative methods struggle with noisy data, incomplete observations, and the complex structures inherent in 3D scenes. In this…

3D generation has rapidly accelerated in the past decade owing to the progress in the field of generative modeling. Score Distillation Sampling (SDS) based rendering has improved 3D asset generation to a great extent. Further, the recent…

Recent progress in 3D scene understanding enables scalable learning of representations across large datasets of diverse scenes. As a consequence, generalization to unseen scenes and objects, rendering novel views from just a single or a…

Integrating generative models with action chunking has shown significant promise in imitation learning for robotic manipulation. However, the existing diffusion-based paradigm often struggles to capture strong temporal dependencies across…

Fine-tuning diffusion policies with reinforcement learning (RL) presents significant challenges. The long denoising sequence for each action prediction impedes effective reward propagation. Moreover, standard RL methods require millions of…

Recently, 2D speaking avatars have increasingly participated in everyday scenarios due to the fast development of facial animation techniques. However, most existing works neglect the explicit control of human bodies. In this paper, we…

With the great success of diffusion models (DMs) in generating realistic synthetic vision data, many researchers have investigated their potential in decision-making and control. Most of these works utilized DMs to sample directly from the…

Diffusion models have been extensively leveraged for learning robot skills from demonstrations. These policies are conditioned on several observational modalities such as proprioception, vision and tactile. However, observational modalities…

Generating diverse and realistic human motion that can physically interact with an environment remains a challenging research area in character animation. Meanwhile, diffusion-based methods, as proposed by the robotics community, have…