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

Diffusion models have become a central paradigm for image and multimodal generation, yet their deployment raises persistent questions about alignment, safety, preference satisfaction, and robustness to misuse. This survey reviews recent…

Reinforcement Learning (RL) has emerged as a central paradigm for advancing Large Language Models (LLMs), where pre-training and RL post-training share the same log-likelihood formulation. In contrast, recent RL approaches for diffusion…

With the rapid advancement of remote sensing technology, super-resolution image reconstruction is of great research and practical significance. Existing deep learning methods have made progress but still face limitations in handling complex…

Diffusion models produce high-fidelity speech but are inefficient for real-time use due to long denoising steps and challenges in modeling intonation and rhythm. To improve this, we propose Diffusion Loss-Guided Policy Optimization (DLPO),…

Learning a generalist embodied agent capable of completing multiple tasks poses challenges, primarily stemming from the scarcity of action-labeled robotic datasets. In contrast, a vast amount of human videos exist, capturing intricate tasks…

Dexterous manipulation with contact-rich interactions is crucial for advanced robotics. While recent diffusion-based planning approaches show promise for simple manipulation tasks, they often produce unrealistic ghost states (e.g., the…

A key challenge towards reliable robotic control is devising computational models that can both learn policies and guarantee robustness when deployed in the field. Inspired by the free energy principle in computational neuroscience, to…

Learning diverse policies for non-prehensile manipulation is essential for improving skill transfer and generalization to out-of-distribution scenarios. In this work, we enhance exploration through a two-fold approach within a hybrid…

Federated learning systems have been identified as an efficient approach to scaling distributed model training with a large amount of participants or data owners while guaranteeing data privacy. To apply the current most popular pre-trained…

Offline reinforcement learning (RL) holds promise as a means to learn high-reward policies from a static dataset, without the need for further environment interactions. However, a key challenge in offline RL lies in effectively stitching…

Denoising Diffusion Probabilistic Models (DDPMs) are powerful generative deep learning models that have been very successful at image generation, and, very recently, in path planning and control. In this paper, we investigate how to…

We study an LLM fine-tuning task for designing reward functions for sequential resource allocation problems in public health, guided by human preferences expressed in natural language. This setting presents a challenging testbed for…

The growing demand for parking has increased the need for automated parking planning methods that can operate reliably in confined spaces. In restricted and complex environments, high-precision maneuvers are required to achieve a high…

Learning long-horizon robotic manipulation requires jointly achieving expressive behavior modeling, real-time inference, and stable execution, which remains challenging for existing generative policies. Diffusion-based approaches offer…

Diffusion policies are competitive for offline reinforcement learning (RL) but are typically guided at sampling time by heuristics that lack a statistical notion of risk. We introduce LRT-Diffusion, a risk-aware sampling rule that treats…

This tutorial provides an in-depth guide on inference-time guidance and alignment methods for optimizing downstream reward functions in diffusion models. While diffusion models are renowned for their generative modeling capabilities,…

Fine-tuning text-to-image diffusion models with human feedback is an effective method for aligning model behavior with human intentions. However, this alignment process often suffers from slow convergence due to the large size and noise…

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…

Diffusion Large Language Models (dLLMs) have emerged as a promising non-autoregressive generative paradigm. Given the prohibitive computational cost of full fine-tuning, Parameter-Efficient Fine-Tuning (PEFT) has become the standard…

Diffusion language models, as a promising alternative to traditional autoregressive (AR) models, enable faster generation and richer conditioning on bidirectional context. However, they suffer from a key discrepancy between training and…