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

Simultaneously grasping and delivering multiple objects can significantly enhance robotic work efficiency and has been a key research focus for decades. The primary challenge lies in determining how to push objects, group them, and execute…

Diffusion models are increasingly used as powerful conditional generators, yet real deployments often involve multiple target distributions arising from different tasks, e.g., diverse prompt domains in text-to-image generation, or multiple…

Diffusion generative modeling has become a promising approach for learning robotic manipulation tasks from stochastic human demonstrations. In this paper, we present Diffusion-EDFs, a novel SE(3)-equivariant diffusion-based approach for…

We introduce Transfusion, a recipe for training a multi-modal model over discrete and continuous data. Transfusion combines the language modeling loss function (next token prediction) with diffusion to train a single transformer over…

Instance segmentation of unknown objects from images is regarded as relevant for several robot skills including grasping, tracking and object sorting. Recent results in computer vision have shown that large hand-labeled datasets enable high…

The pre-trained text-image discriminative models, such as CLIP, has been explored for open-vocabulary semantic segmentation with unsatisfactory results due to the loss of crucial localization information and awareness of object shapes.…

People can learn a wide range of tasks from their own experience, but can also learn from observing other creatures. This can accelerate acquisition of new skills even when the observed agent differs substantially from the learning agent in…

We present InstructDiffusion, a unifying and generic framework for aligning computer vision tasks with human instructions. Unlike existing approaches that integrate prior knowledge and pre-define the output space (e.g., categories and…

The control of robots for manipulation tasks generally relies on visual input. Recent advances in vision-language models (VLMs) enable the use of natural language instructions to condition visual input and control robots in a wider range of…

Bimanual manipulation is essential in robotics, yet developing foundation models is extremely challenging due to the inherent complexity of coordinating two robot arms (leading to multi-modal action distributions) and the scarcity of…

We introduce Talk2Move, a reinforcement learning (RL) based diffusion framework for text-instructed spatial transformation of objects within scenes. Spatially manipulating objects in a scene through natural language poses a challenge for…

Developing robust autonomous loco-manipulation skills for humanoids remains an open problem in robotics. While RL has been applied successfully to legged locomotion, applying it to complex, interaction-rich manipulation tasks is harder…

The open vocabulary capability of 3D models is increasingly valued, as traditional methods with models trained with fixed categories fail to recognize unseen objects in complex dynamic 3D scenes. In this paper, we propose a simple yet…

In this paper, we investigate the use of diffusion models which are pre-trained on large-scale image-caption pairs for open-vocabulary 3D semantic understanding. We propose a novel method, namely Diff2Scene, which leverages frozen…

Reinforcement learning (RL) can automate a wide variety of robotic skills, but learning each new skill requires considerable real-world data collection and manual representation engineering to design policy classes or features. Using deep…

Diffusion models, a powerful and universal generative AI technology, have achieved tremendous success in computer vision, audio, reinforcement learning, and computational biology. In these applications, diffusion models provide flexible…

Cross-modal image translation remains brittle and inefficient. Standard diffusion approaches often rely on a single, global linear transfer between domains. We find that this shortcut forces the sampler to traverse off-manifold, high-cost…

Learning to manipulate objects efficiently, particularly those involving sustained contact (e.g., pushing, sliding) and articulated parts (e.g., drawers, doors), presents significant challenges. Traditional methods, such as robot-centric…

Computer simulation provides an automatic and safe way for training robotic control policies to achieve complex tasks such as locomotion. However, a policy trained in simulation usually does not transfer directly to the real hardware due to…

This work proposes a novel approach that uses a semantic segmentation mask to obtain a 2D spatial layout of the segmentation-categories across the scene, designated by segmentation-based semantic features (SSFs). These features represent,…