相关论文: Falcon: Fast Visuomotor Policies via Partial Denoi…

We present FoundAtion-model-guided decoupled LoCO-maNipulation visuomotor policies (FALCON), a framework for loco-manipulation that combines modular diffusion policies with a vision-language foundation model as the coordinator. Our approach…

Generative models such as diffusion and flow matching have become dominant paradigms for visuomotor policy learning, yet their reliance on iterative denoising incurs high inference latency incompatible with real-time robotic control. We…

Diffusion and flow matching policies have recently demonstrated remarkable performance in robotic applications by accurately capturing multimodal robot trajectory distributions. However, their computationally expensive inference, due to the…

This paper introduces Diffusion Policy, a new way of generating robot behavior by representing a robot's visuomotor policy as a conditional denoising diffusion process. We benchmark Diffusion Policy across 12 different tasks from 4…

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…

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…

Some of the most performant reinforcement learning algorithms today can be prohibitively expensive as they use test-time scaling methods such as sampling multiple action candidates and selecting the best one. In this work, we propose…

Today's unsupervised image segmentation algorithms often segment suboptimally. Modern graph-cut based approaches rely on high-dimensional attention maps from Transformer-based foundation models, typically employing a relaxed Normalized Cut…

Video action models are an appealing foundation for Vision--Language--Action systems because they can learn visual dynamics from large-scale video data and transfer this knowledge to downstream robot control. Yet current diffusion-based…

Many robotic systems, such as mobile manipulators or quadrotors, cannot be equipped with high-end GPUs due to space, weight, and power constraints. These constraints prevent these systems from leveraging recent developments in visuomotor…

This paper introduces a holistic vision-language foundation model tailored for remote sensing, named Falcon. Falcon offers a unified, prompt-based paradigm that effectively executes comprehensive and complex remote sensing tasks. Falcon…

Striking an optimal balance between minimal drafting latency and high speculation accuracy to enhance the inference speed of Large Language Models remains a significant challenge in speculative decoding. In this paper, we introduce Falcon,…

Generative modeling-based visuomotor policies have been widely adopted in robotic manipulation, attributed to their ability to model multimodal action distributions. However, the high inference cost of multi-step sampling limits its…

With the rise of stochastic generative models in robot policy learning, end-to-end visuomotor policies are increasingly successful at solving complex tasks by learning from human demonstrations. Nevertheless, since real-world evaluation…

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…

Flow-matching-based policies have recently emerged as a promising approach for learning-based robot manipulation, offering significant acceleration in action sampling compared to diffusion-based policies. However, conventional flow-matching…

Visuomotor policies aim to learn complex manipulation tasks from expert demonstrations. However, generating smooth and coherent trajectories remains challenging, as it requires balancing proximal precision with distal foresight. Existing…

Diffusion strategies have advanced visual motor control by progressively denoising high-dimensional action sequences, providing a promising method for robot manipulation. However, as task complexity increases, the success rate of existing…

Diffusion policies have recently emerged as a powerful paradigm for visuomotor control in robotic manipulation due to their ability to model the distribution of action sequences and capture multimodality. However, iterative denoising leads…

In this paper, we build upon two major recent developments in the field, Diffusion Policies for visuomotor manipulation and large pre-trained multimodal foundational models to obtain a robotic skill learning system. The system can obtain…