相关论文: Conditioning Matters: Training Diffusion Policies …

In recent years, generative models have shown remarkable capabilities across diverse fields, including images, videos, language, and decision-making. By applying powerful generative models such as flow-based models to reinforcement…

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…

Recent advances in multimodal large language models (MLLMs) have enabled image-based question-answering capabilities. However, a key limitation is the use of CLIP as the visual encoder; while it can capture coarse global information, it…

Style transfer involves transferring the style from a reference image to the content of a target image. Recent advancements in LoRA-based (Low-Rank Adaptation) methods have shown promise in effectively capturing the style of a single image.…

Diffusion Models enable realistic image generation, raising the risk of misinformation and eroding public trust. Currently, detecting images generated by unseen diffusion models remains challenging due to the limited generalization…

Learning robot policies that capture multimodality in the training data has been a long-standing open challenge for behavior cloning. Recent approaches tackle the problem by modeling the conditional action distribution with generative…

Generalizing locomotion policies across diverse legged robots with varying morphologies is a key challenge due to differences in observation/action dimensions and system dynamics. In this work, we propose Multi-Loco, a novel unified…

Does Chain-of-Thought (CoT) reasoning genuinely improve Vision-Language-Action (VLA) models, or does it merely add overhead? Existing CoT-VLA systems report limited and inconsistent gains, yet no prior work has rigorously diagnosed when and…

Vision-language-action (VLA) models provide a powerful approach to training control policies for physical systems, such as robots, by combining end-to-end learning with transfer of semantic knowledge from web-scale vision-language model…

The growing adoption of batteries in the electric vehicle industry and various consumer products has created an urgent need for effective recycling solutions. These products often contain a mix of compliant and rigid components, making…

Diffusion models are state-of-the-art tools for various generative tasks. Yet training these models involves estimating high-dimensional score functions, which in principle suffers from the curse of dimensionality. It is therefore important…

Diffusion models have exhibited impressive prowess in the text-to-image task. Recent methods add image-level structure controls, e.g., edge and depth maps, to manipulate the generation process together with text prompts to obtain desired…

Generative models, particularly diffusion models, have achieved remarkable success in density estimation for multimodal data, drawing significant interest from the reinforcement learning (RL) community, especially in policy modeling in…

We present a masked diffusion language modeling framework for data-efficient training for the BabyLM 2025 Challenge. Our approach applies diffusion training objectives to language modeling under strict data constraints, incorporating…

Vision-language models (VLMs) have tremendous potential for grounding language, and thus enabling language-conditioned agents (LCAs) to perform diverse tasks specified with text. This has motivated the study of LCAs based on reinforcement…

Diffusion models has emerged as a powerful framework for tasks like image controllable generation and dense prediction. However, existing models often struggle to capture underlying semantics (e.g., edges, textures, shapes) and effectively…

Diffusion models has underpinned much recent advances of dataset augmentation in various computer vision tasks. However, when involving generating multi-object images as real scenarios, most existing methods either rely entirely on text…

Numerous studies have shown that multimodal LLMs process speech and images well but fail in non-intuitive ways rendering trivial tasks such as object counting unreliable. We investigate this behavior from an information-theoretic…

The long-standing vision of general-purpose robots hinges on their ability to understand and act upon natural language instructions. Vision-Language-Action (VLA) models have made remarkable progress toward this goal, yet their generated…

Robots equipped with rich sensor suites can localize reliably in partially-observable environments, but powering every sensor continuously is wasteful and often infeasible. Belief-space planners address this by propagating pose-belief…