相关论文: Demystifying Diffusion Policies: Action Memorizati…

Visuomotor imitation learning policies enable robots to efficiently acquire manipulation skills from visual demonstrations. However, as scene complexity and visual distractions increase, policies that perform well in simple settings often…

Efficiently aligning large-scale video diffusion models with human intent requires a scalable and trajectory-aware pathway that bridges the inherent discrepancy between training noise distributions and practical inference trajectories.…

Diffusion models have become a popular choice for representing actor policies in behavior cloning and offline reinforcement learning. This is due to their natural ability to optimize an expressive class of distributions over a continuous…

Generating diverse and realistic human motion that can physically interact with an environment remains a challenging research area in character animation. Meanwhile, diffusion-based methods, as proposed by the robotics community, have…

End-to-end learning is emerging as a powerful paradigm for robotic manipulation, but its effectiveness is limited by data scarcity and the heterogeneity of action spaces across robot embodiments. In particular, diverse action spaces across…

Due to their capacity to generate novel and high-quality samples, diffusion models have attracted significant research interest in recent years. Notably, the typical training objective of diffusion models, i.e., denoising score matching,…

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…

Learning domain adaptive policies that can generalize to unseen transition dynamics, remains a fundamental challenge in learning-based control. Substantial progress has been made through domain representation learning to capture…

Diffusion policies, widely adopted in decision-making scenarios such as robotics, gaming and autonomous driving, are capable of learning diverse skills from demonstration data due to their high representation power. However, the sub-optimal…

Recently, there has been an increased interest in the practical problem of learning multiple dense scene understanding tasks from partially annotated data, where each training sample is only labeled for a subset of the tasks. The missing of…

We introduce $\textbf{F}$uture $\textbf{LA}$tent $\textbf{RE}$presentation Alignment ($\textbf{FLARE}$), a novel framework that integrates predictive latent world modeling into robot policy learning. By aligning features from a diffusion…

Reinforcement learning (RL) enables sequential decision-making in complex and high-dimensional environments through interaction with the environment. In most real-world applications, however, a high number of interactions are infeasible. In…

Robots can acquire complex manipulation skills by learning policies from expert demonstrations, which is often known as vision-based imitation learning. Generating policies based on diffusion and flow matching models has been shown to be…

Diffusion Transformers (DiTs) excel at visual generation yet remain hampered by slow sampling. Existing training-free accelerators - step reduction, feature caching, and sparse attention - enhance inference speed but typically rely on a…

Diffusion Policies have significantly advanced robotic manipulation tasks via imitation learning, but their application on resource-constrained mobile platforms remains challenging due to computational inefficiency and extensive memory…

Diffusion models have been successfully applied in areas such as image, video, and audio generation. Recent works show their promise for sequential decision-making and dexterous manipulation, leveraging their ability to model complex action…

Thanks to their remarkable flexibility, diffusion models and flow models have emerged as promising candidates for policy representation. However, efficient reinforcement learning (RL) upon these policies remains a challenge due to the lack…

Active multi-target tracking requires a mobile robot to balance exploration for undetected targets with exploitation of uncertain tracked ones. Diffusion policies have emerged as a powerful approach for capturing diverse behavioral…

Preference optimization has emerged as an efficient alternative to online reinforcement learning from human feedback (RLHF) for aligning text-to-image diffusion models. However, existing methods largely reduce supervision to binary pairwise…

Proximal Policy Optimization (PPO) is widely used in continuous control due to its robustness and stable training, yet it remains sample-inefficient in tasks with expensive interactions and high-dimensional action spaces. This paper…