相关论文: S$^2$-Diffusion: Generalizing from Instance-level …

We aim to solve the problem of generating coarse-to-fine skills learning from demonstrations (LfD). To scale precision, traditional LfD approaches often rely on extensive fine-grained demonstrations with external interpolations or dynamics…

We present Prompt Diffusion, a framework for enabling in-context learning in diffusion-based generative models. Given a pair of task-specific example images, such as depth from/to image and scribble from/to image, and a text guidance, our…

Diffusion models has emerged as a powerful framework for tasks like image controllable generation and dense prediction. However, existing models often struggle to capture underlying semantics (e.g., edges, textures, shapes) and effectively…

Point processes model the distribution of random point sets in mathematical spaces, such as spatial and temporal domains, with applications in fields like seismology, neuroscience, and economics. Existing statistical and machine learning…

Human videos are a scalable source of training data for robot learning. However, humans and robots significantly differ in embodiment, making many human actions infeasible for direct execution on a robot. Still, these demonstrations convey…

Bimanual manipulation is crucial in robotics, enabling complex tasks in industrial automation and household services. However, it poses significant challenges due to the high-dimensional action space and intricate coordination requirements.…

Sequence modeling approaches have shown promising results in robot imitation learning. Recently, diffusion models have been adopted for behavioral cloning in a sequence modeling fashion, benefiting from their exceptional capabilities in…

Imitation Learning (IL) enables robots to acquire manipulation skills from expert demonstrations. Diffusion Policy (DP) models multi-modal expert behaviors but degrades when naively increasing stacked observation horizons, limiting…

Visuomotor imitation learning policies enable robots to efficiently acquire manipulation skills from visual demonstrations. However, as scene complexity and visual distractions increase, policies that perform well in simple settings often…

Despite significant progress in Text-to-Image (T2I) generative models, even lengthy and complex text descriptions still struggle to convey detailed controls. In contrast, Layout-to-Image (L2I) generation, aiming to generate realistic and…

Learning visuomotor policy for multi-task robotic manipulation has been a long-standing challenge for the robotics community. The difficulty lies in the diversity of action space: typically, a goal can be accomplished in multiple ways,…

This work introduces DiffuseLoco, a framework for training multi-skill diffusion-based policies for dynamic legged locomotion from offline datasets, enabling real-time control of diverse skills on robots in the real world. Offline learning…

Recent large vision-language-action models pretrained on diverse robot datasets have demonstrated the potential for generalizing to new environments with a few in-domain data. However, those approaches usually predict individual discretized…

Imitation learning for robotic manipulation often suffers from limited generalization and data scarcity, especially in complex, long-horizon tasks. In this work, we introduce a hierarchical framework that leverages code-generating…

Robustness and generalizability in medical image segmentation are often hindered by scarcity and limited diversity of training data, which stands in contrast to the variability encountered during inference. While conventional strategies --…

In this work, we present an in-context policy adaptation (ICPAD) framework designed for long-horizon multi-task environments, exploring diffusion-based skill learning techniques in cross-domain settings. The framework enables rapid…

Diffusion models have achieved great success in image generation. However, when leveraging this idea for video generation, we face significant challenges in maintaining the consistency and continuity across video frames. This is mainly…

Modeling multimodal human behavior has been a key barrier to increasing the level of interaction between human and robot, particularly for collaborative tasks. Our key insight is that an effective, learned robot policy used for human-robot…

Improving the generalization capabilities of general-purpose robotic manipulation agents in the real world has long been a significant challenge. Existing approaches often rely on collecting large-scale robotic data which is costly and…

Accurate modeling of robot dynamics is essential for model-based control, yet remains challenging under distributional shifts and real-time constraints. In this work, we formulate system identification as an in-context meta-learning problem…