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

Fabrication uncertainty arising from tolerance accumulation, material imperfection, and positioning errors remains a critical barrier to automated robotic assembly in construction, particularly for contact-rich manipulation tasks governed…

Nature evolves creatures with a high complexity of morphological and behavioral intelligence, meanwhile computational methods lag in approaching that diversity and efficacy. Co-optimization of artificial creatures' morphology and control in…

Robots can acquire complex manipulation skills by learning policies from expert demonstrations, which is often known as vision-based imitation learning. Generating policies based on diffusion and flow matching models has been shown to be…

Diffusion policies trained via offline behavioral cloning have recently gained traction in robotic motion generation. While effective, these policies typically require a large number of trainable parameters. This model size affords powerful…

In this paper, we learn a diffusion model to generate 3D data on a scene-scale. Specifically, our model crafts a 3D scene consisting of multiple objects, while recent diffusion research has focused on a single object. To realize our goal,…

Imitation learning powered by generative models has proven effective for modeling complex single-agent behaviors. However, teaching multi-agent systems, like multiple arms or vehicles, to coordinate through imitation learning is hindered by…

Score-based generative models like the diffusion model have been testified to be effective in modeling multi-modal data from image generation to reinforcement learning (RL). However, the inference process of diffusion model can be slow,…

Robots in the real world need to perceive and move to goals in complex environments without collisions. Avoiding collisions is especially difficult when relying on sensor perception and when goals are among clutter. Diffusion policies and…

This paper proposes the DnD Filter, a differentiable filter that utilizes diffusion models for state estimation of dynamic systems. Unlike conventional differentiable filters, which often impose restrictive assumptions on process noise…

Classical paradigms for distributed learning, such as federated or decentralized gradient descent, employ consensus mechanisms to enforce homogeneity among agents. While these strategies have proven effective in i.i.d. scenarios, they can…

Offline reinforcement learning (RL) aims to learn optimal policies from previously collected datasets. Recently, due to their powerful representational capabilities, diffusion models have shown significant potential as policy models for…

Diffusion models (DMs) have emerged as a promising approach for behavior cloning (BC). Diffusion policies (DP) based on DMs have elevated BC performance to new heights, demonstrating robust efficacy across diverse tasks, coupled with their…

Artificial neural networks, especially recent diffusion-based models, have shown remarkable superiority in gaming, control, and QA systems, where the training tasks' datasets are usually static. However, in real-world applications, such as…

Recent advances in imitation learning for 3D robotic manipulation have shown promising results with diffusion-based policies. However, achieving human-level dexterity requires seamless integration of geometric precision and semantic…

Learning robot policies that capture multimodality in the training data has been a long-standing open challenge for behavior cloning. Recent approaches tackle the problem by modeling the conditional action distribution with generative…

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…

Learning world models can teach an agent how the world works in an unsupervised manner. Even though it can be viewed as a special case of sequence modeling, progress for scaling world models on robotic applications such as autonomous…

Evaluating robotics policies across thousands of environments and thousands of tasks is infeasible with existing approaches. This motivates the need for a new methodology for scalable robotics policy evaluation. In this paper, we propose…

In recent years roboticists have achieved remarkable progress in solving increasingly general tasks on dexterous robotic hardware by leveraging high capacity Transformer network architectures and generative diffusion models. Unfortunately,…

Diffusion policies have emerged as a mainstream paradigm for building vision-language-action (VLA) models. Although they demonstrate strong robot control capabilities, their training efficiency remains suboptimal. In this work, we identify…