相关论文: SafeBimanual: Diffusion-based Trajectory Optimizat…

Imitation learning for robotic manipulation faces a fundamental challenge: the scarcity of large-scale, high-quality robot demonstration data. Recent robotic foundation models often pre-train on cross-embodiment robot datasets to increase…

Diffusion Policy (DP) enables robots to learn complex behaviors by imitating expert demonstrations through action diffusion. However, in practical applications, hardware limitations often degrade data quality, while real-time constraints…

Recent advances in diffusion models have demonstrated their strong capabilities in generating high-fidelity samples from complex distributions through an iterative refinement process. Despite the empirical success of diffusion models in…

Bimanual manipulation tasks typically involve multiple stages which require efficient interactions between two arms, posing step-wise and stage-wise challenges for imitation learning systems. Specifically, failure and delay of one step will…

Learning from expert demonstrations is a promising approach for training robotic manipulation policies from limited data. However, imitation learning algorithms require a number of design choices ranging from the input modality, training…

Diffusion-based policies have gained growing popularity in solving a wide range of decision-making tasks due to their superior expressiveness and controllable generation during inference. However, effectively training large diffusion…

Diffusion policies (DPs) achieve state-of-the-art performance on complex manipulation tasks by learning from large-scale demonstration datasets, often spanning multiple embodiments and environments. However, they cannot guarantee safe…

Despite the fact that visuomotor-based policies obtained via imitation learning demonstrate good performances in complex manipulation tasks, they usually struggle to achieve the same accuracy and speed as traditional control based methods.…

Diffusion models have shown strong competitiveness in offline reinforcement learning tasks by formulating decision-making as sequential generation. However, the practicality of these methods is limited due to the lengthy inference processes…

Learning diverse policies for non-prehensile manipulation is essential for improving skill transfer and generalization to out-of-distribution scenarios. In this work, we enhance exploration through a two-fold approach within a hybrid…

Safety-critical traffic scenarios are integral to the development and validation of autonomous driving systems. These scenarios provide crucial insights into vehicle responses under high-risk conditions rarely encountered in real-world…

Trajectory generation for mobile robots in unstructured environments faces a critical dilemma: balancing kinematic smoothness for safe execution with terminal precision for fine-grained tasks. Existing generative planners often struggle…

Fine-tuning pre-trained robot policies with reinforcement learning (RL) often inherits the bottlenecks introduced by pre-training with behavioral cloning (BC), which produces narrow action distributions that lack the coverage necessary for…

Diffusion models have shown remarkable potential in planning and control tasks due to their ability to represent multimodal distributions over actions and trajectories. However, ensuring safety under constraints remains a critical challenge…

Diffusion policies have shown to be very efficient at learning complex, multi-modal behaviors for robotic manipulation. However, errors in generated action sequences can compound over time which can potentially lead to failure. Some…

Diffusion models, such as diffusion policy, have achieved state-of-the-art results in robotic manipulation by imitating expert demonstrations. While diffusion models were originally developed for vision tasks like image and video…

Sequence modeling approaches have shown promising results in robot imitation learning. Recently, diffusion models have been adopted for behavioral cloning in a sequence modeling fashion, benefiting from their exceptional capabilities in…

Dual-arm cooperative manipulation holds great promise for tackling complex real-world tasks that demand seamless coordination and adaptive dynamics. Despite substantial progress in learning-based motion planning, most approaches struggle to…

In-hand manipulation with multi-fingered hands is a challenging problem that recently became feasible with the advent of deep reinforcement learning methods. While most contributions to the task brought improvements in robustness and…

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…