相关论文: AffordDP: Generalizable Diffusion Policy with Tran…

Affordance grounding, a task to ground (i.e., localize) action possibility region in objects, which faces the challenge of establishing an explicit link with object parts due to the diversity of interactive affordance. Human has the ability…

Open-vocabulary 3D affordance detection requires localizing interaction regions on point clouds given novel affordance descriptions. Recent methods extend multimodal large language models (MLLMs) with special output tokens that are decoded…

Diffusion probabilistic models (DPMs) have exhibited exceptional proficiency in generating visual media of outstanding quality and realism. Nonetheless, their potential in non-generative domains, such as face recognition, has yet to be…

Affordance learning is a complex challenge in many applications, where existing approaches primarily focus on the geometric structures, visual knowledge, and affordance labels of objects to determine interactable regions. However, extending…

Recent advances in generative modeling -- particularly diffusion models and flow matching -- have achieved remarkable success in synthesizing discrete data such as images and videos. However, adapting these models to physical applications…

Diffusion models, as a class of deep generative models, have recently emerged as powerful tools for robot skills by enabling stable training with reliable convergence. In this paper, we present an end-to-end framework for generating long,…

Given a dataset of expert trajectories, standard imitation learning approaches typically learn a direct mapping from observations (e.g., RGB images) to actions. However, such methods often overlook the rich interplay between different…

The conditional diffusion model has been demonstrated as an efficient tool for learning robot policies, owing to its advancement to accurately model the conditional distribution of policies. The intricate nature of real-world scenarios,…

Current robotic pick-and-place policies typically require consistent gripper configurations across training and inference. This constraint imposes high retraining or fine-tuning costs, especially for imitation learning-based approaches,…

Diffusion probabilistic models have quickly become a major approach for generative modeling of images, 3D geometry, video and other domains. However, to adapt diffusion generative modeling to these domains the denoising network needs to be…

Diffusion policies excel at robotic manipulation by naturally modeling multimodal action distributions in high-dimensional spaces. Nevertheless, diffusion policies suffer from diffusion representation collapse: semantically similar…

We present a framework for assistive robot manipulation, which focuses on two fundamental challenges: first, efficiently adapting large-scale models to downstream scene affordance understanding tasks, especially in daily living scenarios…

Diffusion models (DMs) have emerged as powerful generative models for solving inverse problems, offering a good approximation of prior distributions of real-world image data. Typically, diffusion models rely on large-scale clean signals to…

Robotic affordances, providing information about what actions can be taken in a given situation, can aid robotic manipulation. However, learning about affordances requires expensive large annotated datasets of interactions or…

Robotic affordances, providing information about what actions can be taken in a given situation, can aid robotic manipulation. However, learning about affordances requires expensive large annotated datasets of interactions or…

General value functions (GVFs) in the reinforcement learning (RL) literature are long-term predictive summaries of the outcomes of agents following specific policies in the environment. Affordances as perceived action possibilities with…

Diffusion policy has demonstrated promising performance in the field of robotic manipulation. However, its effectiveness has been primarily limited in short-horizon tasks, and its performance significantly degrades in the presence of image…

Diffusion policies are becoming mainstream in robotic manipulation but suffer from hard negative class imbalance due to uniform sampling and lack of sample difficulty awareness, leading to slow training convergence and frequent inference…

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…

While imitation learning provides a simple and effective framework for policy learning, acquiring consistent actions during robot execution remains a challenging task. Existing approaches primarily focus on either modifying the action…