相关论文: Demystifying Diffusion Policies: Action Memorizati…

Diffusion-based policies have shown impressive performance in robotic manipulation tasks while struggling with out-of-domain distributions. Recent efforts attempted to enhance generalization by improving the visual feature encoding for…

This work introduces the Multimodal Diffusion Transformer (MDT), a novel diffusion policy framework, that excels at learning versatile behavior from multimodal goal specifications with few language annotations. MDT leverages a…

This paper focuses on enhancing the grasping precision and generalization of manipulation policies learned via imitation learning. Diffusion-based policy learning methods have recently become the mainstream approach for robotic manipulation…

Diffusion policies are powerful visuomotor models for robotic manipulation, yet they often fail to generalize to manipulators or end-effectors unseen during training and struggle to accommodate new task requirements at inference time.…

We apply diffusion strategies to develop a fully-distributed cooperative reinforcement learning algorithm in which agents in a network communicate only with their immediate neighbors to improve predictions about their environment. The…

Shared autonomy is an operational concept in which a user and an autonomous agent collaboratively control a robotic system. It provides a number of advantages over the extremes of full-teleoperation and full-autonomy in many settings.…

Recent work has shown diffusion models are an effective approach to learning the multimodal distributions arising from demonstration data in behavior cloning. However, a drawback of this approach is the need to learn a denoising function,…

Offline reinforcement learning (RL) can learn optimal policies from pre-collected offline datasets without interacting with the environment, but the sampled actions of the agent cannot often cover the action distribution under a given…

Image diffusion models such as DALL-E 2, Imagen, and Stable Diffusion have attracted significant attention due to their ability to generate high-quality synthetic images. In this work, we show that diffusion models memorize individual…

A key challenge with procedure planning in instructional videos lies in how to handle a large decision space consisting of a multitude of action types that belong to various tasks. To understand real-world video content, an AI agent must…

Learning from unstructured and uncurated data has become the dominant paradigm for generative approaches in language and vision. Such unstructured and unguided behavior data, commonly known as play, is also easier to collect in robotics but…

Multitask learning poses significant challenges due to the highly multimodal and diverse nature of robot action distributions. However, effectively fitting policies to these complex task distributions is often difficult, and existing…

Offline reinforcement learning (RL), which aims to learn an optimal policy using a previously collected static dataset, is an important paradigm of RL. Standard RL methods often perform poorly in this regime due to the function…

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…

Training an agent to achieve particular goals or perform desired behaviors is often accomplished through reinforcement learning, especially in the absence of expert demonstrations. However, supporting novel goals or behaviors through…

Existing imitation learning methods decouple perception and action, which overlooks the causal reciprocity between sensory representations and action execution that humans naturally leverage for adaptive behaviors. To bridge this gap, we…

Drawing upon recent advances in language model alignment, we formulate offline Reinforcement Learning as a two-stage optimization problem: First pretraining expressive generative policies on reward-free behavior datasets, then fine-tuning…

One important property of DIstribution Correction Estimation (DICE) methods is that the solution is the optimal stationary distribution ratio between the optimized and data collection policy. In this work, we show that DICE-based methods…

Diffusion models have achieved remarkable success in sequential decision-making by leveraging the highly expressive model capabilities in policy learning. A central problem for learning diffusion policies is to align the policy output with…

In many real-world settings, agents must learn from an offline dataset gathered by some prior behavior policy. Such a setting naturally leads to distribution shift between the behavior policy and the target policy being trained - requiring…