相关论文: Diffusion-DICE: In-Sample Diffusion Guidance for O…

Offline reinforcement learning (RL) aims to learn the optimal policy from a fixed dataset generated by behavior policies without additional environment interactions. One common challenge that arises in this setting is the…

Diffusion-based models for robotic control, including vision-language-action (VLA) and vision-action (VA) policies, have demonstrated significant capabilities. Yet their advancement is constrained by the high cost of acquiring large-scale…

Diffusion policies (DP) have demonstrated significant potential in visual navigation by capturing diverse multi-modal trajectory distributions. However, standard imitation learning (IL), which most DP methods rely on for training, often…

This paper presents an adaptive combination strategy for distributed learning over diffusion networks. Since learning relies on the collaborative processing of the stochastic information at the dispersed agents, the overall performance can…

Reinforcement learning (RL) has achieved remarkable success in a wide range of sequential decision-making problems. Recent diffusion-based policies further improve RL by modeling complex, high-dimensional action distributions. However,…

Diffusion models have been extensively leveraged for learning robot skills from demonstrations. These policies are conditioned on several observational modalities such as proprioception, vision and tactile. However, observational modalities…

Recent advances in offline Reinforcement Learning (RL) have proven that effective policy learning can benefit from imposing conservative constraints on pre-collected datasets. However, such static datasets often exhibit distribution bias,…

Learning to perform accurate and rich simulations of human driving behaviors from data for autonomous vehicle testing remains challenging due to human driving styles' high diversity and variance. We address this challenge by proposing a…

Predicting potential outcomes of interventions from observational data is crucial for decision-making in medicine, but the task is challenging due to the fundamental problem of causal inference. Existing methods are largely limited to point…

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…

Safe and effective motion planning is crucial for autonomous robots. Diffusion models excel at capturing complex agent interactions, a fundamental aspect of decision-making in dynamic environments. Recent studies have successfully applied…

Masked diffusion language models generate text through iterative masked-token filling, but terminal-only rewards on final completions provide coarse credit assignment for the intermediate filling decisions that shape the generation process.…

The remarkable performance of deep neural networks depends on the availability of massive labeled data. To alleviate the load of data annotation, active deep learning aims to select a minimal set of training points to be labelled which…

Diffusion models have recently gained prominence in offline reinforcement learning due to their ability to effectively learn high-performing, generalizable policies from static datasets. Diffusion-based planners facilitate long-horizon…

Diffusion strategies have advanced visual motor control by progressively denoising high-dimensional action sequences, providing a promising method for robot manipulation. However, as task complexity increases, the success rate of existing…

Diffusion models have achieved remarkable success in generative modeling. Despite more stable training, the loss of diffusion models is not indicative of absolute data-fitting quality, since its optimal value is typically not zero but…

Offline reinforcement learning (RL) leverages pre-collected datasets to train optimal policies. Diffusion Q-Learning (DQL), introducing diffusion models as a powerful and expressive policy class, significantly boosts the performance of…

Diffusion models have recently shown promise in time series forecasting, particularly for probabilistic predictions. However, they often fail to achieve state-of-the-art point estimation performance compared to regression-based methods.…

Existing imitation learning methods decouple perception and action, which overlooks the causal reciprocity between sensory representations and action execution that humans naturally leverage for adaptive behaviors. To bridge this gap, 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…