相关论文: Generative Factor Chaining: Coordinated Manipulati…
Long-horizon tasks, usually characterized by complex subtask dependencies, present a significant challenge in manipulation planning. Skill chaining is a practical approach to solving unseen tasks by combining learned skill priors. However,…
This paper presents a framework designed to tackle a range of planning problems arise in manipulation, which typically involve complex geometric-physical reasoning related to contact and dynamic constraints. We introduce the Contact Factor…
Efficient planning in high-dimensional spaces, such as those involving deformable objects, requires computationally tractable yet sufficiently expressive dynamics models. This paper introduces a method that automatically generates…
Generative control policies have recently unlocked major progress in robotics. These methods produce action sequences via diffusion or flow matching, with training data provided by demonstrations. But existing methods come with two key…
Robots in the real world need to perceive and move to goals in complex environments without collisions. Avoiding collisions is especially difficult when relying on sensor perception and when goals are among clutter. Diffusion policies and…
Effective trajectory stitching for long-horizon planning is a significant challenge in robotic decision-making. While diffusion models have shown promise in planning, they are limited to solving tasks similar to those seen in their training…
Financial scenario simulation is essential for risk management and portfolio optimization, yet it remains challenging especially in high-dimensional and small data settings common in finance. We propose a diffusion factor model that…
Many data-driven decision problems are formulated using a nominal distribution estimated from historical data, while performance is ultimately determined by a deployment distribution that may be shifted, context-dependent, partially…
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…
Safe and successful deployment of robots requires not only the ability to generate complex plans but also the capacity to frequently replan and correct execution errors. This paper addresses the challenge of long-horizon trajectory planning…
Efficiently generating grasp poses tailored to specific regions of an object is vital for various robotic manipulation tasks, especially in a dual-arm setup. This scenario presents a significant challenge due to the complex geometries…
Graph neural networks (GNNs), especially dynamic GNNs, have become a research hotspot in spatio-temporal forecasting problems. While many dynamic graph construction methods have been developed, relatively few of them explore the causal…
We present Generative Predictive Control (GPC), an inference-time method for improving pretrained behavior-cloning policies without retraining. GPC augments a frozen diffusion policy at deployment with an action-conditioned world model…
Urban wind flow modeling and simulation play an important role in air quality assessment and sustainable city planning. A key challenge for modeling and simulation is handling the complex geometries of the urban landscape. Low order models…
Standard model-free reinforcement learning algorithms optimize a policy that generates the action to be taken in the current time step in order to maximize expected future return. While flexible, it faces difficulties arising from the…
A major concern in modern power systems is that the popularity and fluctuating characteristics of renewable energy may cause more and more transmission congestion events. Traditional congestion management modeling involves AC or DC power…
Generative models have emerged as powerful tools for planning, with compositional approaches offering particular promise for modeling long-horizon task distributions by composing together local, modular generative models. This compositional…
Federated learning (FL) has become a cornerstone in decentralized learning, where, in many scenarios, the incoming data distribution will change dynamically over time, introducing continuous learning (CL) problems. This continual federated…
Generative Behavior Cloning (GBC) is a simple yet effective framework for robot learning, particularly in multi-task settings. Recent GBC methods often employ diffusion policies with open-loop (OL) control, where actions are generated via a…
Diffusion models have emerged as powerful generative frameworks by progressively adding noise to data through a forward process and then reversing this process to generate realistic samples. While these models have achieved strong…