相关论文: Efficient Diffusion Transformer Policies with Mixt…

Diffusion policies have emerged as a powerful framework for robotic visuomotor control, yet they often lack the robustness to recover from subtask failures in long-horizon, multi-stage tasks and their learned representations of observations…

Diffusion models have recently achieved great success in the synthesis of high-quality images and videos. However, the existing denoising techniques in diffusion models are commonly based on step-by-step noise predictions, which suffers…

Diffusion models have seen rapid adoption in robotic imitation learning, enabling autonomous execution of complex dexterous tasks. However, action synthesis is often slow, requiring many steps of iterative denoising, limiting the extent to…

The Mixture-of-Experts (MoE) approach has demonstrated outstanding scalability in multi-task learning including low-level upstream tasks such as concurrent removal of multiple adverse weather effects. However, the conventional MoE…

In this paper, we present DiT-MoE, a sparse version of the diffusion Transformer, that is scalable and competitive with dense networks while exhibiting highly optimized inference. The DiT-MoE includes two simple designs: shared expert…

This work introduces Variational Diffusion Distillation (VDD), a novel method that distills denoising diffusion policies into Mixtures of Experts (MoE) through variational inference. Diffusion Models are the current state-of-the-art in…

Recent research on robot manipulation based on Behavior Cloning (BC) has made significant progress. By combining diffusion models with BC, diffusion policiy has been proposed, enabling robots to quickly learn manipulation tasks with high…

The application of mixture-of-experts (MoE) is gaining popularity due to its ability to improve model's performance. In an MoE structure, the gate layer plays a significant role in distinguishing and routing input features to different…

Transformer-based diffusion models have achieved significant advancements across a variety of generative tasks. However, producing high-quality outputs typically necessitates large transformer models, which result in substantial training…

In recent years, large-scale pre-trained diffusion models have demonstrated their outstanding capabilities in image and video generation tasks. However, existing models tend to produce visual objects commonly found in the training dataset,…

Domain-specific adaptation is critical to maximizing the performance of pre-trained language models (PLMs) on one or multiple targeted tasks, especially under resource-constrained use cases, such as edge devices. However, existing methods…

Diffusion models have achieved remarkable success across a range of generative tasks. Recent efforts to enhance diffusion model architectures have reimagined them as a form of multi-task learning, where each task corresponds to a denoising…

The increasing complexity of tasks in robotics demands efficient strategies for multitask and continual learning. Traditional models typically rely on a universal policy for all tasks, facing challenges such as high computational costs and…

Recent efforts on Diffusion Mixture-of-Experts (MoE) models have primarily focused on developing more sophisticated routing mechanisms. However, we observe that the underlying architectural configuration space remains markedly…

Real-world model deployment across multiple domains requires multimodal models to operate under two complementary regimes: (1) multi-task pretraining, tasks are co-available at design time where related tasks could borrow representational…

Diffusion models are trained by learning a sequence of models that reverse each step of noise corruption. Typically, the model parameters are fully shared across multiple timesteps to enhance training efficiency. However, since the…

As the training of giant dense models hits the boundary on the availability and capability of the hardware resources today, Mixture-of-Experts (MoE) models become one of the most promising model architectures due to their significant…

Diffusion Transformer (DiT) has demonstrated remarkable performance in text-to-image generation; however, its large parameter size results in substantial inference overhead. Existing parameter compression methods primarily focus on pruning,…

This work introduces the Multimodal Diffusion Transformer (MDT), a novel diffusion policy framework, that excels at learning versatile behavior from multimodal goal specifications with few language annotations. MDT leverages a…

Diffusion models, such as diffusion policy, have achieved state-of-the-art results in robotic manipulation by imitating expert demonstrations. While diffusion models were originally developed for vision tasks like image and video…