相关论文: MP1: MeanFlow Tames Policy Learning in 1-step for …

Diffusion models have recently been successfully applied to a wide range of robotics applications for learning complex multi-modal behaviors from data. However, prior works have mostly been confined to single-robot and small-scale…

Steering large-scale swarms with only limited control updates is often needed due to communication or computational constraints, yet most learning-based approaches do not account for this and instead model instantaneous velocity fields. As…

Partially Supervised Multi-Task Learning (PS-MTL) aims to leverage knowledge across tasks when annotations are incomplete. Existing approaches, however, have largely focused on the simpler setting of homogeneous, dense prediction tasks,…

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-based visuomotor policies effectively capture multimodal action distributions through iterative denoising, but their high inference latency limits real-time robotic control. Recent flow matching and consistency-based methods…

Vision-Language-Action (VLA) models based on flow matching -- such as pi0, pi0.5, and SmolVLA -- achieve state-of-the-art generalist robotic manipulation, yet their iterative denoising, typically 10 ODE steps, introduces substantial…

Robot motion distributions often exhibit multi-modality and require flexible generative models for accurate representation. Streaming Flow Policies (SFPs) have recently emerged as a powerful paradigm for generating robot trajectories by…

MeanFlow enables one-step generation in continuous spaces by learning an average velocity over a time interval rather than the instantaneous velocity field of flow matching. However, discrete state spaces do not have smooth trajectories or…

Flow-based generative models have emerged as powerful priors for solving inverse problems. One option is to directly optimize the initial latent code (noise), such that the flow output solves the inverse problem. However, this requires…

The increasing complexity of tasks in robotics demands efficient strategies for multitask and continual learning. Traditional models typically rely on a universal policy for all tasks, facing challenges such as high computational costs and…

Learning from demonstration provides a sample-efficient approach to acquiring complex behaviors, enabling robots to move robustly, compliantly, and with fluidity. In this context, Dynamic Motion Primitives offer built - in stability and…

RMPflow is a recently proposed policy-fusion framework based on differential geometry. While RMPflow has demonstrated promising performance, it requires the user to provide sensible subtask policies as Riemannian motion policies (RMPs: a…

Temporal coherence is a valuable source of information in the context of optical flow estimation. However, finding a suitable motion model to leverage this information is a non-trivial task. In this paper we propose an unsupervised online…

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…

We introduce a new paradigm for generative modeling built on Continuous Normalizing Flows (CNFs), allowing us to train CNFs at unprecedented scale. Specifically, we present the notion of Flow Matching (FM), a simulation-free approach for…

We propose DemoDiffusion, a simple method for enabling robots to perform manipulation tasks by imitating a single human demonstration, without requiring task-specific training or paired human-robot data. Our approach is based on two…

Despite Flow Matching and diffusion models having emerged as powerful generative paradigms for continuous variables such as images and videos, their application to high-dimensional discrete data, such as language, is still limited. In this…

In many complex scenarios, robotic manipulation relies on generative models to estimate the distribution of multiple successful actions. As the diffusion model has better training robustness than other generative models, it performs well in…

Generative models for sequential data often struggle with sparsely sampled and high-dimensional trajectories, typically reducing the learning of dynamics to pairwise transitions. We propose Interpolative Multi-Marginal Flow Matching…

We introduce manifold-learning flows (M-flows), a new class of generative models that simultaneously learn the data manifold as well as a tractable probability density on that manifold. Combining aspects of normalizing flows, GANs,…