相关论文: Deep Generative Models in Robotics: A Survey on Le…

Robots are increasingly deployed across diverse domains to tackle tasks requiring novel skills. However, current robot learning algorithms for acquiring novel skills often rely on demonstration datasets or environment interactions,…

As deep learning technology continues to evolve, the images yielded by generative models are becoming more and more realistic, triggering people to question the authenticity of images. Existing generated image detection methods detect…

Vision-based learning methods provide promise for robots to learn complex manipulation tasks. However, how to generalize the learned manipulation skills to real-world interactions remains an open question. In this work, we study robotic…

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…

Deep generative models such as Variational Autoencoders (VAEs), Generative Adversarial Networks (GANs), Diffusion Models, and Transformers, have shown great promise in a variety of applications, including image and speech synthesis, natural…

In this study, we investigate how a robot can generate novel and creative actions from its own experience of learning basic actions. Inspired by a machine learning approach to computational creativity, we propose a dynamic neural network…

This paper comprehensively surveys research trends in imitation learning for contact-rich robotic tasks. Contact-rich tasks, which require complex physical interactions with the environment, represent a central challenge in robotics due to…

Generative models have fundamentally reshaped the landscape of decision-making, reframing the problem from pure scalar reward maximization to high-fidelity trajectory generation and distribution matching. This paradigm shift addresses…

Joint machine learning models that allow synthesizing and classifying data often offer uneven performance between those tasks or are unstable to train. In this work, we depart from a set of empirical observations that indicate the…

Over the past few years, we have seen fundamental breakthroughs in core problems in machine learning, largely driven by advances in deep neural networks. At the same time, the amount of data collected in a wide array of scientific domains…

Deep generative models have recently shown great promise in imitation learning for motor control. Given enough data, even supervised approaches can do one-shot imitation learning; however, they are vulnerable to cascading failures when the…

Modular robots can be reconfigured to create a variety of designs from a small set of components. But constructing a robot's hardware on its own is not enough -- each robot needs a controller. One could create controllers for some designs…

One challenge of motion generation using robot learning from demonstration techniques is that human demonstrations follow a distribution with multiple modes for one task query. Previous approaches fail to capture all modes or tend to…

The application of deep learning in robotics leads to very specific problems and research questions that are typically not addressed by the computer vision and machine learning communities. In this paper we discuss a number of…

The image-to-image translation abilities of generative learning models have recently made significant progress in the estimation of complex (steered) mappings between image distributions. While appearance based tasks like image in-painting…

Implicit generative models have the capability to learn arbitrary complex data distributions. On the downside, training requires telling apart real data from artificially-generated ones using adversarial discriminators, leading to unstable…

Robotic Manipulation (RM) is central to the advancement of autonomous robots, enabling them to interact with and manipulate objects in real-world environments. This survey focuses on RM methodologies that leverage imitation learning, a…

In modern industrial collaborative robotic applications, it is desirable to create robot programs automatically, intuitively, and time-efficiently. Moreover, robots need to be controlled by reactive policies to face the unpredictability of…

Molecular dynamics (MD) is a powerful technique for studying microscopic phenomena, but its computational cost has driven significant interest in the development of deep learning-based surrogate models. We introduce generative modeling of…

Deep generative models such as diffusion and flow matching are powerful machine learning tools capable of learning and sampling from high-dimensional distributions. They are particularly useful when the training data appears to be…