相关论文: Conditioning Matters: Training Diffusion Policies …

Predicting potential outcomes of interventions from observational data is crucial for decision-making in medicine, but the task is challenging due to the fundamental problem of causal inference. Existing methods are largely limited to point…

Diffusion language models are a promising alternative to autoregressive models, yet post-training methods for them largely adapt reward-maximizing objectives. We identify a central failure mode in this setting we call trajectory locking:…

Augmenting vision-language-action models (VLAs) with world models is promising for robotic policy learning but faces challenges in jointly predicting states and actions due to the modality gap. To address this, we propose DUal-STream…

Reasoning over long sequences of observations and actions is essential for many robotic tasks. Yet, learning effective long-context policies from demonstrations remains challenging. As context length increases, training becomes increasingly…

This work introduces DiffuseLoco, a framework for training multi-skill diffusion-based policies for dynamic legged locomotion from offline datasets, enabling real-time control of diverse skills on robots in the real world. Offline learning…

Diffusion and flow matching models have emerged as powerful robot policies, enabling Vision-Language-Action (VLA) models to generalize across diverse scenes and instructions. Yet, when trained via imitation learning, their high generative…

Learning from demonstrations faces challenges in generalizing beyond the training data and often lacks collision awareness. This paper introduces Lan-o3dp, a language-guided object-centric diffusion policy framework that can adapt to unseen…

While conditional diffusion models have achieved remarkable success in various applications, they require abundant data to train from scratch, which is often infeasible in practice. To address this issue, transfer learning has emerged as an…

Learning universal policies from cross-embodied data remains a fundamental challenge in robotics. Although Vision-Language-Action (VLA) models are pre-trained on large and diverse datasets, they typically rely on embodiment-specific…

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…

Mobile robot navigation in dynamic environments with pedestrian traffic is a key challenge in the development of autonomous mobile service robots. Recently, deep reinforcement learning-based methods have been actively studied and have…

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),…

Conditional decision generation with diffusion models has shown powerful competitiveness in reinforcement learning (RL). Recent studies reveal the relation between energy-function-guidance diffusion models and constrained RL problems. The…

Imitation learning, particularly Diffusion Policies based methods, has recently gained significant traction in embodied AI as a powerful approach to action policy generation. These models efficiently generate action policies by learning to…

Diffusion large language models (dLLMs) are promising alternatives to autoregressive large language models (AR-LLMs), as they potentially allow higher inference throughput. Reinforcement learning (RL) is a crucial component for dLLMs to…

Denoising diffusion models have emerged as a dominant approach for image generation, however they still suffer from slow convergence in training and color shift issues in sampling. In this paper, we identify that these obstacles can be…

Neural diffusion processes provide a scalable, non-Gaussian approach to modelling distributions over functions, but existing formulations are limited to single-task inference and do not capture dependencies across related tasks. In many…

Imitation learning provides an efficient way to teach robots dexterous skills; however, learning complex skills robustly and generalizablely usually consumes large amounts of human demonstrations. To tackle this challenging problem, we…

The scale of modern datasets necessitates the development of efficient distributed optimization methods for machine learning. We present a general-purpose framework for distributed computing environments, CoCoA, that has an efficient…

Due to its training stability and strong expression, the diffusion model has attracted considerable attention in offline reinforcement learning. However, several challenges have also come with it: 1) The demand for a large number of…