相关论文: PANDORA: Diffusion Policy Learning for Dexterous R…

Diffusion policies are a powerful paradigm for robotic control, but fine-tuning them with human preferences is fundamentally challenged by the multi-step structure of the denoising process. To overcome this, we introduce a Unified Markov…

Depth sensing is an important problem for 3D vision-based robotics. Yet, a real-world active stereo or ToF depth camera often produces noisy and incomplete depth which bottlenecks robot performances. In this work, we propose D3RoMa, a…

Diffusion-based large language models offer a non-autoregressive alternative for text generation, but enabling them to perform complex reasoning remains challenging. Reinforcement learning has recently emerged as an effective post-training…

We propose a diffusion-based framework for prompt optimization that leverages Diffusion Language Models (DLMs) to iteratively refine system prompts through masked denoising. By conditioning on interaction traces, including user queries,…

Diffusion models exhibit impressive scalability in robotic task learning, yet they struggle to adapt to novel, highly dynamic environments. This limitation primarily stems from their constrained replanning ability: they either operate at a…

Modeling generalized robot control policies poses ongoing challenges for language-guided robot manipulation tasks. Existing methods often struggle to efficiently utilize cross-dataset resources or rely on resource-intensive vision-language…

Humanoid loco-manipulation requires coordinated high-level motion plans with stable, low-level whole-body execution under complex robot-environment dynamics and long-horizon tasks. While diffusion policies (DPs) show promise for learning…

Imitation Learning presents a promising approach for learning generalizable and complex robotic skills. The recently proposed Diffusion Policy generates robot action sequences through a conditional denoising diffusion process, achieving…

Diffusion policies have demonstrated strong performance in generative modeling, making them promising for robotic manipulation guided by natural language instructions. However, generalizing language-conditioned diffusion policies to…

Learning rewards from expert videos offers an affordable and effective solution to specify the intended behaviors for reinforcement learning (RL) tasks. In this work, we propose Diffusion Reward, a novel framework that learns rewards from…

Despite recent advances in dexterous manipulations, the manipulation of articulated objects and generalization across different categories remain significant challenges. To address these issues, we introduce DART, a novel framework that…

Current mainstream methods of aligning diffusion models with human preferences typically employ VLM-based reward models. However, these reward models, pre-trained for semantic alignment, struggle to capture the essential perceptual…

Robots hold great promise for performing repetitive or hazardous tasks, but achieving human-like dexterity, especially in contact-rich and dynamic environments, remains challenging. Rigid robots, which rely on position or velocity control,…

Recent studies have demonstrated the effectiveness of directly aligning diffusion models with human preferences using differentiable reward. However, they exhibit two primary challenges: (1) they rely on multistep denoising with gradient…

Differentiable reinforcement learning (RL) frameworks like DiffRO offer a powerful approach for controllable text-to-speech (TTS), but are vulnerable to reward hacking, particularly for nuanced tasks like emotion control. The policy model…

This paper investigates the application of Diffusion Policy in non-stationary, vision-based RL settings, specifically targeting environments where task dynamics and objectives evolve over time. Our work is grounded in practical challenges…

Video diffusion alignment has been heavily relied on scalar rewards. These rewards are typically derived from learned reward models in human preference datasets, requiring additional training and extensive collection. Moreover, scalar…

Diffusion Large Language Models (dLLMs) are rapidly emerging alongside autoregressive models as a powerful paradigm for complex reasoning, with reinforcement learning increasingly used for downstream alignment. Existing trajectory-based RL…

Vision-Language-Action (VLA) models are emerging as a next-generation paradigm for robotics. We introduce dVLA, a diffusion-based VLA that leverages a multimodal chain-of-thought to unify visual perception, language reasoning, and robotic…

We present Distributional RewArds for Generative OptimizatioN (DRAGON), a versatile framework for fine-tuning media generation models towards a desired outcome. Compared with traditional reinforcement learning with human feedback (RLHF) or…