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

Diffusion models have recently gained prominence as powerful deep generative models, demonstrating unmatched performance across various domains. However, their potential in multi-sensor fusion remains largely unexplored. In this work, we…

Shared autonomy is an operational concept in which a user and an autonomous agent collaboratively control a robotic system. It provides a number of advantages over the extremes of full-teleoperation and full-autonomy in many settings.…

Distributed diffusion is a powerful algorithm for multi-task state estimation which enables networked agents to interact with neighbors to process input data and diffuse information across the network. Compared to a centralized approach,…

Intelligent agents, such as robots and virtual agents, must understand the dynamics of complex social interactions to interact with humans. Effectively representing social dynamics is challenging because we require multi-modal, synchronized…

Goal-conditioned dynamic manipulation is inherently challenging due to complex system dynamics and stringent task constraints, particularly in deformable object scenarios characterized by high degrees of freedom and underactuation. Prior…

Recent advances in deep learning have shown that learning robust feature representations is critical for the success of many computer vision tasks, including medical image segmentation. In particular, both transformer and…

Diffusion policies have demonstrated strong performance in generative modeling, making them promising for robotic manipulation guided by natural language instructions. However, generalizing language-conditioned diffusion policies to…

Visuomotor policy learning has witnessed substantial progress in robotic manipulation, with recent approaches predominantly relying on generative models to model the action distribution. However, these methods often overlook the critical…

The conditional diffusion model has been demonstrated as an efficient tool for learning robot policies, owing to its advancement to accurately model the conditional distribution of policies. The intricate nature of real-world scenarios,…

Reinforcement learning (RL) has proven highly effective in addressing complex decision-making and control tasks. However, in most traditional RL algorithms, the policy is typically parameterized as a diagonal Gaussian distribution with…

Offline reinforcement learning (RL), which aims to learn an optimal policy using a previously collected static dataset, is an important paradigm of RL. Standard RL methods often perform poorly in this regime due to the function…

Reinforcement learning has been proven to be highly effective in handling complex control tasks. Traditional methods typically use unimodal distributions, such as Gaussian distributions, to model the output of value distributions. However,…

Robotic tasks are typically specified by a tuple of factors, such as the object to be grasped, the obstacles to be avoided, the color of the target, and so on. Collecting expert demonstrations for every combination of factor values grows…

Diffusion models have emerged as powerful tools for 3D medical image generation, yet bridging the gap between standard training objectives and clinical relevance remains a challenge. This paper presents a method to enhance 3D diffusion…

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…

As robots become more integrated in society, their ability to coordinate with other robots and humans on multi-modal tasks (those with multiple valid solutions) is crucial. Such behaviors can be learned from expert demonstrations via…

In multi-agent systems, noise reduction techniques are important for improving the overall system reliability as agents are required to rely on limited environmental information to develop cooperative and coordinated behaviors with the…

We present ActionDiffusion -- a novel diffusion model for procedure planning in instructional videos that is the first to take temporal inter-dependencies between actions into account in a diffusion model for procedure planning. This…

Learning diverse policies for non-prehensile manipulation is essential for improving skill transfer and generalization to out-of-distribution scenarios. In this work, we enhance exploration through a two-fold approach within a hybrid…

Recent work has shown diffusion models are an effective approach to learning the multimodal distributions arising from demonstration data in behavior cloning. However, a drawback of this approach is the need to learn a denoising function,…