相关论文: Diffusion Implicit Policy for Unpaired Scene-aware…

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…

In this paper, we present a diffusion model-based framework for animating people from a single image for a given target 3D motion sequence. Our approach has two core components: a) learning priors about invisible parts of the human body and…

We present a physics-based character control framework for synthesizing human-scene interactions. Recent advances adopt physics simulation to mitigate artifacts produced by data-driven kinematic approaches. However, existing physics-based…

Diffusion models have demonstrated remarkable capabilities in image generation tasks, including image editing and video creation, representing a good understanding of the physical world. On the other line, diffusion models have also shown…

The target duration of a synthesized human motion is a critical attribute that requires modeling control over the motion dynamics and style. Speeding up an action performance is not merely fast-forwarding it. However, state-of-the-art…

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…

Human motion synthesis conditioned on textual input has gained significant attention in recent years due to its potential applications in various domains such as gaming, film production, and virtual reality. Conditioned Motion synthesis…

This paper focuses on enhancing the grasping precision and generalization of manipulation policies learned via imitation learning. Diffusion-based policy learning methods have recently become the mainstream approach for robotic manipulation…

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…

Learning-based 3D Scanning plays a crucial role in enabling efficient and accurate scanning of target objects. However, recent reinforcement learning-based methods often require large-scale training data and still struggle to generalize to…

Diffusion policies have recently emerged as a powerful class of visuomotor controllers for robot manipulation, offering stable training and expressive multi-modal action modeling. However, existing approaches typically treat action…

Whole-body control of robotic manipulators with awareness of full-arm kinematics is crucial for many manipulation scenarios involving body collision avoidance or body-object interactions, which makes it insufficient to consider only the…

Generating natural hand-object interactions in 3D is challenging as the resulting hand and object motions are expected to be physically plausible and semantically meaningful. Furthermore, generalization to unseen objects is hindered by the…

We propose DemoDiffusion, a simple method for enabling robots to perform manipulation tasks by imitating a single human demonstration, without requiring task-specific training or paired human-robot data. Our approach is based on two…

Generating coherent long-form video sequences from discrete text prompts remains challenging due to difficulties in maintaining temporal coherence, semantic consistency, and scene-action continuity across segments. We propose a novel…

Image fusion seeks to seamlessly integrate foreground objects with background scenes, producing realistic and harmonious fused images. Unlike existing methods that directly insert objects into the background, adaptive and interactive fusion…

Learning domain adaptive policies that can generalize to unseen transition dynamics, remains a fundamental challenge in learning-based control. Substantial progress has been made through domain representation learning to capture…

Diffusion-based policies have shown impressive performance in robotic manipulation tasks while struggling with out-of-domain distributions. Recent efforts attempted to enhance generalization by improving the visual feature encoding for…

As two intimate reciprocal tasks, scene-aware human motion synthesis and analysis require a joint understanding between multiple modalities, including 3D body motions, 3D scenes, and textual descriptions. In this paper, we integrate these…

Recent successes in image synthesis are powered by large-scale diffusion models. However, most methods are currently limited to either text- or image-conditioned generation for synthesizing an entire image, texture transfer or inserting…