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

Diffusion models (DMs) have been adopted across diverse fields with its remarkable abilities in capturing intricate data distributions. In this paper, we propose a Fast Diffusion Model (FDM) to significantly speed up DMs from a stochastic…

Image denoising is a fundamental problem in computational photography, where achieving high perception with low distortion is highly demanding. Current methods either struggle with perceptual quality or suffer from significant distortion.…

In the field of Robot Learning, the complex mapping between high-dimensional observations such as RGB images and low-level robotic actions, two inherently very different spaces, constitutes a complex learning problem, especially with…

Predicting the binding structure of a small molecule ligand to a protein -- a task known as molecular docking -- is critical to drug design. Recent deep learning methods that treat docking as a regression problem have decreased runtime…

Detectors often suffer from performance drop due to domain gap between training and testing data. Recent methods explore diffusion models applied to domain generalization (DG) and adaptation (DA) tasks, but still struggle with large…

Generative models play an important role in missing data imputation in that they aim to learn the joint distribution of full data. However, applying advanced deep generative models (such as Diffusion models) to missing data imputation is…

Diffusion Probabilistic Models (DPMs) have recently demonstrated impressive results on various generative tasks.Despite its promises, the learned representations of pre-trained DPMs, however, have not been fully understood. In this paper,…

Multi-fingered hands are emerging as powerful platforms for performing fine manipulation tasks, including tool use. However, environmental perturbations or execution errors can impede task performance, motivating the use of recovery…

Dataset Distillation aims to synthesize compact datasets that can approximate the training efficacy of large-scale real datasets, offering an efficient solution to the increasing computational demands of modern deep learning. Recently,…

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…

Learning bimanual manipulation is challenging due to its high dimensionality and tight coordination required between two arms. Eye-in-hand imitation learning, which uses wrist-mounted cameras, simplifies perception by focusing on…

While diffusion distillation has enabled one-step generation through methods like Variational Score Distillation, adapting distilled models to emerging new controls -- such as novel structural constraints or latest user preferences --…

Diffusion policies have achieved superior performance in imitation learning and offline reinforcement learning (RL) due to their rich expressiveness. However, the conventional diffusion training procedure requires samples from target…

Aligning generative diffusion models with human preferences via reinforcement learning (RL) is critical yet challenging. Most existing algorithms are often vulnerable to reward hacking, such as quality degradation, over-stylization, or…

Diffusion Models have become a cornerstone of modern generative AI for their exceptional generation quality and controllability. However, their inherent \textit{multi-step iterations} and \textit{complex backbone networks} lead to…

Model-based reinforcement learning methods often use learning only for the purpose of estimating an approximate dynamics model, offloading the rest of the decision-making work to classical trajectory optimizers. While conceptually simple,…

Data-free knowledge distillation (DFKD) has emerged as a pivotal technique in the domain of model compression, substantially reducing the dependency on the original training data. Nonetheless, conventional DFKD methods that employ…

Dataset distillation (DD) enhances training efficiency and reduces bandwidth by condensing large datasets into smaller synthetic ones. It enables models to achieve performance comparable to those trained on the raw full dataset and has…

The diffusion model presents a powerful ability to capture the entire (conditional) data distribution. However, due to the lack of sufficient training and data to learn to cover low-probability areas, the model will be penalized for failing…

We address the problem of imitation learning with multi-modal demonstrations. Instead of attempting to learn all modes, we argue that in many tasks it is sufficient to imitate any one of them. We show that the state-of-the-art methods such…