相关论文: Diffusion Meets DAgger: Supercharging Eye-in-hand …

Recent studies on deepfake detection have achieved promising results when training and testing faces are from the same dataset. However, their results severely degrade when confronted with forged samples that the model has not yet seen…

Dataset Distillation (DD), a newly emerging field, aims at generating much smaller but efficient synthetic training datasets from large ones. Existing DD methods based on gradient matching achieve leading performance; however, they are…

In this paper, we present a novel paradigm to enhance the ability of object detector, e.g., expanding categories or improving detection performance, by training on synthetic dataset generated from diffusion models. Specifically, we…

Diffusion policies excel at visuomotor control but often fail catastrophically under severe out-of-distribution (OOD) disturbances, such as unexpected object displacements or visual corruptions. To address this vulnerability, we introduce…

This paper focuses on enhancing the grasping precision and generalization of manipulation policies learned via imitation learning. Diffusion-based policy learning methods have recently become the mainstream approach for robotic manipulation…

Diffusion Models (DMs) have demonstrated state-of-the-art performance in content generation without requiring adversarial training. These models are trained using a two-step process. First, a forward - diffusion - process gradually adds…

Dataset distillation has emerged as an effective strategy, significantly reducing training costs and facilitating more efficient model deployment. Recent advances have leveraged generative models to distill datasets by capturing the…

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…

Diffusion models have demonstrated highly-expressive generative capabilities in vision and NLP. Recent studies in reinforcement learning (RL) have shown that diffusion models are also powerful in modeling complex policies or trajectories in…

Dataset distillation (DD) is an increasingly important technique that focuses on constructing a synthetic dataset capable of capturing the core information in training data to achieve comparable performance in models trained on the latter.…

Bagging has achieved great success in the field of machine learning by integrating multiple base classifiers to build a single strong classifier to reduce model variance. The performance improvement of bagging mainly relies on the number…

Diffusion models have been successfully adapted to text generation tasks by mapping the discrete text into the continuous space. However, there exist nonnegligible gaps between training and inference, owing to the absence of the forward…

We present Diffusion Model Patching (DMP), a simple method to boost the performance of pre-trained diffusion models that have already reached convergence, with a negligible increase in parameters. DMP inserts a small, learnable set of…

Object detectors often suffer a decrease in performance due to the large domain gap between the training data (source domain) and real-world data (target domain). Diffusion-based generative models have shown remarkable abilities in…

Solving sequential decision prediction problems, including those in imitation learning settings, requires mitigating the problem of covariate shift. The standard approach, DAgger, relies on capturing expert behaviour in all states that the…

As Artificial Intelligence models, such as Large Video-Language models (VLMs), grow in size, their deployment in real-world applications becomes increasingly challenging due to hardware limitations and computational costs. To address this,…

Learning diffusion bridge models is easy; making them fast and practical is an art. Diffusion bridge models (DBMs) are a promising extension of diffusion models for applications in image-to-image translation. However, like many modern…

We introduce Diffusion Augmented Agents (DAAG), a novel framework that leverages large language models, vision language models, and diffusion models to improve sample efficiency and transfer learning in reinforcement learning for embodied…

Decision-making in robotics using denoising diffusion processes has increasingly become a hot research topic, but end-to-end policies perform poorly in tasks with rich contact and have limited controllability. This paper proposes…

Robots hold great promise for performing repetitive or hazardous tasks, but achieving human-like dexterity, especially in contact-rich and dynamic environments, remains challenging. Rigid robots, which rely on position or velocity control,…