相关论文: Render and Diffuse: Aligning Image and Action Spac…

Modeling generalized robot control policies poses ongoing challenges for language-guided robot manipulation tasks. Existing methods often struggle to efficiently utilize cross-dataset resources or rely on resource-intensive vision-language…

Diffusion generative models have demonstrated remarkable success in visual domains such as image and video generation. They have also recently emerged as a promising approach in robotics, especially in robot manipulations. Diffusion models…

Imitation learning provides an efficient way to teach robots dexterous skills; however, learning complex skills robustly and generalizablely usually consumes large amounts of human demonstrations. To tackle this challenging problem, we…

Rendering and inverse rendering are pivotal tasks in both computer vision and graphics. The rendering equation is the core of the two tasks, as an ideal conditional distribution transfer function from intrinsic properties to RGB images.…

Whole-body control of robotic manipulators with awareness of full-arm kinematics is crucial for many manipulation scenarios involving body collision avoidance or body-object interactions, which makes it insufficient to consider only the…

Bridging the 'reality gap' that separates simulated robotics from experiments on hardware could accelerate robotic research through improved data availability. This paper explores domain randomization, a simple technique for training models…

Achieving generalizable and precise robotic manipulation across diverse environments remains a critical challenge, largely due to limitations in spatial perception. While prior imitation-learning approaches have made progress, their…

Reinforcement learning (RL) struggles to scale to large, combinatorial action spaces common in many real-world problems. This paper introduces a novel framework for training discrete diffusion models as highly effective policies in these…

Diffusion models have emerged as powerful generative models in the text-to-image domain. This paper studies their application as observation-to-action models for imitating human behaviour in sequential environments. Human behaviour is…

Robotic manipulation tasks often rely on static cameras for perception, which can limit flexibility, particularly in scenarios like robotic surgery and cluttered environments where mounting static cameras is impractical. Ideally, robots…

We present a method that reduces, by an order of magnitude, the time and memory needed to train multi-task vision-language robotic diffusion policies. This improvement arises from a previously underexplored distinction between action…

Effective environment perception is crucial for enabling downstream robotic applications. Individual robotic agents often face occlusion and limited visibility issues, whereas multi-agent systems can offer a more comprehensive mapping of…

Diffusion models currently achieve state-of-the-art performance for both conditional and unconditional image generation. However, so far, image diffusion models do not support tasks required for 3D understanding, such as view-consistent 3D…

Accurate modeling of robot dynamics is essential for model-based control, yet remains challenging under distributional shifts and real-time constraints. In this work, we formulate system identification as an in-context meta-learning problem…

The development of diffusion-based generative models over the past decade has largely proceeded independently of progress in representation learning. These diffusion models typically rely on regression-based objectives and generally lack…

Imitation can allow us to quickly gain an understanding of a new task. Through a demonstration, we can gain direct knowledge about which actions need to be performed and which goals they have. In this paper, we introduce a new approach to…

Learning a generalist embodied agent capable of completing multiple tasks poses challenges, primarily stemming from the scarcity of action-labeled robotic datasets. In contrast, a vast amount of human videos exist, capturing intricate tasks…

Diffusion models have recently been successfully applied to a wide range of robotics applications for learning complex multi-modal behaviors from data. However, prior works have mostly been confined to single-robot and small-scale…

Mobile robots on construction sites require accurate pose estimation to perform autonomous surveying and inspection missions. Localization in construction sites is a particularly challenging problem due to the presence of repetitive…

The ability to learn multi-modal action distributions is indispensable for robotic manipulation policies to perform precise and robust control. Flow-based generative models have recently emerged as a promising solution to learning…