相关论文: DiffPhyCon: A Generative Approach to Control Compl…

Planning contact-rich interactions for multi-finger manipulation is challenging due to the high-dimensionality and hybrid nature of dynamics. Recent advances in data-driven methods have shown promise, but are sensitive to the quality of…

Discrete diffusion models are a class of generative models that construct sequences by progressively denoising samples from a categorical noise distribution. Beyond their rapidly growing ability to generate coherent natural language, these…

A key ingredient to achieving intelligent behavior is physical understanding that equips robots with the ability to reason about the effects of their actions in a dynamic environment. Several methods have been proposed to learn dynamics…

In scientific and engineering domains, modeling high-dimensional complex systems governed by partial differential equations (PDEs) remains challenging in terms of physical consistency and numerical stability. However, existing approaches,…

A properly designed controller can help improve the quality of experimental measurements or force a dynamical system to follow a completely new time-evolution path. Recent developments in deep reinforcement learning have made steep advances…

Protein structure prediction is pivotal for understanding the structure-function relationship of proteins, advancing biological research, and facilitating pharmaceutical development and experimental design. While deep learning methods and…

To date, various paradigms of soft-Computing have been used to solve many modern problems. Among them, a self organizing combination of fuzzy systems and neural networks can make a powerful decision making system. Here, a Dynamic Growing…

Prompt learning has demonstrated promising results in fine-tuning pre-trained multimodal models. However, the performance improvement is limited when applied to more complex and fine-grained tasks. The reason is that most existing methods…

Federated Class Continual Learning (FCCL) merges the challenges of distributed client learning with the need for seamless adaptation to new classes without forgetting old ones. The key challenge in FCCL is catastrophic forgetting, an issue…

We survey classical, machine learning, and data-driven system identification approaches to learn control-relevant and physics-informed models of dynamical systems. Recently, machine learning approaches have enabled system identification…

Generative models often treat continuous data and discrete events as separate processes, creating a gap in modeling complex systems where they interact synchronously. To bridge this gap, we introduce JointDiff, a novel diffusion framework…

With the great success of diffusion models (DMs) in generating realistic synthetic vision data, many researchers have investigated their potential in decision-making and control. Most of these works utilized DMs to sample directly from the…

This work introduces DiffuseLoco, a framework for training multi-skill diffusion-based policies for dynamic legged locomotion from offline datasets, enabling real-time control of diverse skills on robots in the real world. Offline learning…

In the expanding field of machine learning, federated learning has emerged as a pivotal methodology for distributed data environments, ensuring privacy while leveraging decentralized data sources. However, the heterogeneity of client data…

Although autoregressive models have dominated language modeling in recent years, there has been a growing interest in exploring alternative paradigms to the conventional next-token prediction framework. Diffusion-based language models have…

Synthesizing physiologically-accurate human movement in a variety of conditions can help practitioners plan surgeries, design experiments, or prototype assistive devices in simulated environments, reducing time and costs and improving…

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…

Controllable generation is considered a potentially vital approach to address the challenge of annotating 3D data, and the precision of such controllable generation becomes particularly imperative in the context of data production for…

Diffusion-based generative methods have proven effective in modeling trajectories with offline datasets. However, they often face computational challenges and can falter in generalization, especially in capturing temporal abstractions for…

In recent years, event cameras have gained significant attention due to their bio-inspired properties, such as high temporal resolution and high dynamic range. However, obtaining large-scale labeled ground-truth data for event-based vision…