相关论文: The Ingredients for Robotic Diffusion Transformers

Recent progress in diffusion models has significantly advanced the field of human image animation. While existing methods can generate temporally consistent results for short or regular motions, significant challenges remain, particularly…

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…

Decision Transformer (DT) is an innovative algorithm leveraging recent advances of the transformer architecture in reinforcement learning (RL). However, a notable limitation of DT is its reliance on recalling trajectories from datasets,…

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…

Reusing large datasets is crucial to scale vision-based robotic manipulators to everyday scenarios due to the high cost of collecting robotic datasets. However, robotic platforms possess varying control schemes, camera viewpoints, kinematic…

Diffusion Transformers have recently demonstrated unprecedented generative capabilities for various tasks. The encouraging results, however, come with the cost of slow inference, since each denoising step requires inference on a transformer…

With the rapid growth in the volume of data sets, models, and devices in the domain of deep learning, there is increasing attention on large-scale distributed deep learning. In contrast to traditional distributed deep learning, the…

Diffusion Policy (DP) enables robots to learn complex behaviors by imitating expert demonstrations through action diffusion. However, in practical applications, hardware limitations often degrade data quality, while real-time constraints…

This paper introduces DrDiff, a novel framework for long-text generation that overcomes the efficiency-quality trade-off through three core technologies. First, we design a dynamic expert scheduling mechanism that intelligently allocates…

Fine-tuning diffusion policies with reinforcement learning (RL) presents significant challenges. The long denoising sequence for each action prediction impedes effective reward propagation. Moreover, standard RL methods require millions of…

Recent advances in reinforcement learning (RL) have demonstrated the powerful exploration capabilities and multimodality of generative diffusion-based policies. While substantial progress has been made in offline RL and off-policy RL…

Deep generative models have garnered significant attention in low-level vision tasks due to their generative capabilities. Among them, diffusion model-based solutions, characterized by a forward diffusion process and a reverse denoising…

Diffusion policies excel at learning complex action distributions for robotic visuomotor tasks, yet their iterative denoising process poses a major bottleneck for real-time deployment. Existing acceleration methods apply a fixed number of…

Diffusion models, a family of generative models based on deep learning, have become increasingly prominent in cutting-edge machine learning research. With a distinguished performance in generating samples that resemble the observed data,…

Diffusion models are widely recognized for generating high-quality and diverse images, but their poor real-time performance has led to numerous acceleration works, primarily focusing on UNet-based structures. With the more successful…

Diffusion Policies have significantly advanced robotic manipulation tasks via imitation learning, but their application on resource-constrained mobile platforms remains challenging due to computational inefficiency and extensive memory…

Transformer architectures, particularly Diffusion Transformers (DiTs), have become widely used in diffusion and flow-matching models due to their strong performance compared to convolutional UNets. However, the isotropic design of DiTs…

In this paper, we argue that iterative computation with diffusion models offers a powerful paradigm for not only generation but also visual perception tasks. We unify tasks such as depth estimation, optical flow, and amodal segmentation…

Generative machine learning models have revolutionized material discovery by capturing complex structure-property relationships, yet extending these approaches to the inverse design of three-dimensional metamaterials remains limited by…

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…