相关论文: ActionDiffusion: An Action-aware Diffusion Model f…

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…

In many complex scenarios, robotic manipulation relies on generative models to estimate the distribution of multiple successful actions. As the diffusion model has better training robustness than other generative models, it performs well in…

We present ActionPlan, a unified motion diffusion framework that bridges real-time streaming with high-quality offline generation within a single model. The core idea is to introduce a per-frame action plan: the model predicts frame-level…

Text-to-video models have demonstrated impressive capabilities in producing diverse and captivating video content, showcasing a notable advancement in generative AI. However, these models generally lack fine-grained control over motion…

Action detection aims to localize the starting and ending points of action instances in untrimmed videos, and predict the classes of those instances. In this paper, we make the observation that the outputs of the action detection task can…

Predicting and anticipating future outcomes or reasoning about missing information in a sequence are critical skills for agents to be able to make intelligent decisions. This requires strong, temporally coherent generative capabilities.…

Video inpainting is the task of filling a region in a video in a visually convincing manner. It is very challenging due to the high dimensionality of the data and the temporal consistency required for obtaining convincing results. Recently,…

Video moment retrieval and highlight detection have received attention in the current era of video content proliferation, aiming to localize moments and estimate clip relevances based on user-specific queries. Given that the video content…

We propose a novel diffusion-based action model for robotic motion planning. Commonly, established numerical planning approaches are used to solve general motion planning problems, but have significant runtime requirements. By leveraging…

Most existing action quality assessment methods rely on the deep features of an entire video to predict the score, which is less reliable due to the non-transparent inference process and poor interpretability. We argue that understanding…

Diffusion policies have recently emerged as a powerful class of visuomotor controllers for robot manipulation, offering stable training and expressive multi-modal action modeling. However, existing approaches typically treat action…

Visuomotor imitation learning policies enable robots to efficiently acquire manipulation skills from visual demonstrations. However, as scene complexity and visual distractions increase, policies that perform well in simple settings often…

We present a target-aware video diffusion model that generates videos from an input image, in which an actor interacts with a specified target while performing a desired action. The target is defined by a segmentation mask, and the action…

This work introduces a novel approach to modeling temporal point processes using diffusion models with an asynchronous noise schedule. At each step of the diffusion process, the noise schedule injects noise of varying scales into different…

Imitation Learning presents a promising approach for learning generalizable and complex robotic skills. The recently proposed Diffusion Policy generates robot action sequences through a conditional denoising diffusion process, achieving…

Recent video inpainting methods have achieved encouraging improvements by leveraging optical flow to guide pixel propagation from reference frames either in the image space or feature space. However, they would produce severe artifacts in…

Task planning for embodied AI has been one of the most challenging problems where the community does not meet a consensus in terms of formulation. In this paper, we aim to tackle this problem with a unified framework consisting of an…

Bimanual manipulation is crucial in robotics, enabling complex tasks in industrial automation and household services. However, it poses significant challenges due to the high-dimensional action space and intricate coordination requirements.…

Imitation learning, particularly Diffusion Policies based methods, has recently gained significant traction in embodied AI as a powerful approach to action policy generation. These models efficiently generate action policies by learning to…

Recently, the diffusion model has emerged as a powerful generative technique for robotic policy learning, capable of modeling multi-mode action distributions. Leveraging its capability for end-to-end autonomous driving is a promising…