相关论文: Demystifying Diffusion Policies: Action Memorizati…

This paper presents DNAct, a language-conditioned multi-task policy framework that integrates neural rendering pre-training and diffusion training to enforce multi-modality learning in action sequence spaces. To learn a generalizable…

Effective robotic manipulation requires policies that can anticipate physical outcomes and adapt to real-world environments. Effective robotic manipulation requires policies that can anticipate physical outcomes and adapt to real-world…

Face anonymization aims to conceal identity information while preserving non-identity attributes. Mainstream diffusion models rely on inference-time interventions such as negative guidance or energy-based optimization, which are applied…

Robotic learning for navigation in unfamiliar environments needs to provide policies for both task-oriented navigation (i.e., reaching a goal that the robot has located), and task-agnostic exploration (i.e., searching for a goal in a novel…

Offline reinforcement learning (RL) leverages pre-collected datasets to train optimal policies. Diffusion Q-Learning (DQL), introducing diffusion models as a powerful and expressive policy class, significantly boosts the performance of…

We aim to improve the reasoning capabilities of diffusion language models (DLMs). While SFT is a popular post-training recipe for autoregressive models, its use in DLMs faces challenges and can even hurt performance, though the underlying…

Diffusion models (DMs) embark a new era of generative modeling and offer more opportunities for efficient generating high-quality and realistic data samples. However, their widespread use has also brought forth new challenges in model…

Vision-based imitation learning has enabled impressive robotic manipulation skills, but its reliance on object appearance while ignoring the underlying 3D scene structure leads to low training efficiency and poor generalization. To address…

Humans can perform various combinations of physical skills without having to relearn skills from scratch every single time. For example, we can swing a bat when walking without having to re-learn such a policy from scratch by composing the…

Diffusion models have gained traction as powerful algorithms for synthesizing high-quality images. Central to these algorithms is the diffusion process, a set of equations which maps data to noise in a way that can significantly affect…

Diffusion large language models (dLLMs), which offer a promising alternative to traditional autoregressive LLMs, have recently shown strong results in pretraining. However, due to their lack of tractable sequence-level likelihoods, they…

Offline reinforcement learning (RL) faces a critical challenge of overestimating the value of out-of-distribution (OOD) actions. Existing methods mitigate this issue by penalizing unseen samples, yet they fail to accurately identify OOD…

Imitation learning addresses the challenge of learning by observing an expert's demonstrations without access to reward signals from environments. Most existing imitation learning methods that do not require interacting with environments…

Detectors often suffer from performance drop due to domain gap between training and testing data. Recent methods explore diffusion models applied to domain generalization (DG) and adaptation (DA) tasks, but still struggle with large…

Diffusion models have emerged as powerful generative models in the text-to-image domain. This paper studies their application as observation-to-action models for imitating human behaviour in sequential environments. Human behaviour is…

Reinforcement learning (RL) has shown extraordinary potential in aligning diffusion models to downstream tasks, yet most of them still suffer from significant reward hacking, which degrades generative diversity and quality by inducing…

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…

It has been recognized that the data generated by the denoising diffusion probabilistic model (DDPM) improves adversarial training. After two years of rapid development in diffusion models, a question naturally arises: can better diffusion…

Robotic manipulation policies are commonly initialized through imitation learning, but their performance is limited by the scarcity and narrow coverage of expert data. Reinforcement learning can refine polices to alleviate this limitation,…

In various scientific and engineering domains, where data acquisition is costly--such as in medical imaging, environmental monitoring, or remote sensing--strategic sampling from unobserved regions, guided by prior observations, is essential…