相关论文: Conditioning Matters: Training Diffusion Policies …

Diffusion policies have shown impressive results in robot imitation learning, even for tasks that require satisfaction of kinematic equality constraints. However, task performance alone is not a reliable indicator of the policy's ability to…

Diffusion Policies have become widely used in Imitation Learning, offering several appealing properties, such as generating multimodal and discontinuous behavior. As models are becoming larger to capture more complex capabilities, their…

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…

Generative motion prediction must satisfy three simultaneous requirements for real-world autonomy: high accuracy, diverse multimodal futures, and strictly bounded latency. Diffusion models meet the first two but violate the third, requiring…

Training generalist agents is difficult across several axes, requiring us to deal with high-dimensional inputs (space), long horizons (time), and generalization to novel tasks. Recent advances with architectures have allowed for improved…

Predict-then-Optimize (PTO) pipelines are widely employed in computing and networked systems, where Machine Learning (ML) models are used to predict critical contextual information for downstream decision-making tasks such as cloud LLM…

Diffusion models and flow matching have become a cornerstone of robotic imitation learning, yet they suffer from a structural inefficiency where inference is often bound to a fixed integration schedule that is agnostic to state complexity.…

Diffusion large language models are a compelling alternative to autoregressive models, yet existing RL methods for diffusion treat all denoising steps as equally important and rely on biased, high-variance likelihood estimates. We identify…

Diffusion models have demonstrated exceptional capability in generating high-quality images, videos, and audio. Due to their adaptiveness in iterative refinement, they provide a strong potential for achieving better non-autoregressive…

We propose CLAD -- a Constrained Latent Action Diffusion model for vision-language procedure planning in instructional videos. Procedure planning is the challenging task of predicting intermediate actions given a visual observation of a…

Diffusion models are powerful, but they require a lot of time and data to train. We propose Patch Diffusion, a generic patch-wise training framework, to significantly reduce the training time costs while improving data efficiency, which…

What happens when a pretrained generative robot policy is provided a constant initial noise as input, rather than repeatedly sampling it from a Gaussian? We demonstrate that the performance of a pretrained, frozen diffusion or flow matching…

At the core of reinforcement learning is the idea of learning beyond the performance in the data. However, scaling such systems has proven notoriously tricky. In contrast, techniques from generative modeling have proven remarkably scalable…

Diffusion models have demonstrated impressive abilities in generating photo-realistic and creative images. To offer more controllability for the generation process, existing studies, termed as early-constraint methods in this paper,…

Generative models have the potential to accelerate key steps in the discovery of novel molecular therapeutics and materials. Diffusion models have recently emerged as a powerful approach, excelling at unconditional sample generation and,…

Diffusion models have obtained substantial progress in image-to-video generation. However, in this paper, we find that these models tend to generate videos with less motion than expected. We attribute this to the issue called conditional…

Diffusion language models (DLMs) enable parallel, order-agnostic generation with iterative refinement, offering a flexible alternative to autoregressive large language models (LLMs). However, adapting reinforcement learning (RL) fine-tuning…

The rapid progress of auto-regressive vision-language models (VLMs) has inspired growing interest in vision-language-action models (VLA) for robotic manipulation. Recently, masked diffusion models, a paradigm distinct from autoregressive…

Reasoning Vision Language Action (VLA) models improve robotic instruction-following by generating step-by-step textual plans before low-level actions, an approach inspired by Chain-of-Thought (CoT) reasoning in language models. Yet even…

Vision-Language-Action (VLA) models aim to control robots for manipulation from visual observations and natural-language instructions. However, existing hierarchical and autoregressive paradigms often introduce architectural overhead,…