相关论文: Act to See, See to Act: Diffusion-Driven Perceptio…

Distributed multi-task adaptive strategies are useful to estimate multiple parameter vectors simultaneously in a collaborative manner. The existed distributed multi-task strategies use diffusion mode of cooperation in which during…

Inspired by recent advances in diffusion models, which are reminiscent of denoising autoencoders, we investigate whether they can acquire discriminative representations for classification via generative pre-training. This paper shows that…

Recent progress in Quality Diversity Reinforcement Learning (QD-RL) has enabled learning a collection of behaviorally diverse, high performing policies. However, these methods typically involve storing thousands of policies, which results…

Diffusion models excel at creating images and videos thanks to their multimodal generative capabilities. These same capabilities have made diffusion models increasingly popular in robotics research, where they are used for generating robot…

Proximal Policy Optimization (PPO) is widely used in continuous control due to its robustness and stable training, yet it remains sample-inefficient in tasks with expensive interactions and high-dimensional action spaces. This paper…

Diffusion Policy is a powerful technique tool for learning end-to-end visuomotor robot control. It is expected that Diffusion Policy possesses scalability, a key attribute for deep neural networks, typically suggesting that increasing model…

Intelligent agents, such as robots and virtual agents, must understand the dynamics of complex social interactions to interact with humans. Effectively representing social dynamics is challenging because we require multi-modal, synchronized…

We propose a methodology that combines generative latent diffusion models with physics-informed machine learning to generate solutions of parametric partial differential equations (PDEs) conditioned on partial observations, which includes,…

In the context of continuously rising global air traffic, efficient and safe Conflict Detection and Resolution (CD&R) is paramount for air traffic management. Although Deep Reinforcement Learning (DRL) offers a promising pathway for CD&R…

The goal of speech enhancement (SE) is to eliminate the background interference from the noisy speech signal. Generative models such as diffusion models (DM) have been applied to the task of SE because of better generalization in unseen…

Diffusion-based representation learning has achieved substantial attention due to its promising capabilities in latent representation and sample generation. Recent studies have employed an auxiliary encoder to identify a corresponding…

Recent research on robot manipulation based on Behavior Cloning (BC) has made significant progress. By combining diffusion models with BC, diffusion policiy has been proposed, enabling robots to quickly learn manipulation tasks with high…

This paper presents Dual Action Policy (DAP), a novel approach to address the dynamics mismatch inherent in the sim-to-real gap of reinforcement learning. DAP uses a single policy to predict two sets of actions: one for maximizing task…

Diffusion-based policies have achieved remarkable results in robotic manipulation but often struggle to adapt rapidly in dynamic scenarios, leading to delayed responses or task failures. We present DCDP, a Dynamic Closed-Loop Diffusion…

Decision-making in robotics using denoising diffusion processes has increasingly become a hot research topic, but end-to-end policies perform poorly in tasks with rich contact and have limited controllability. This paper proposes…

Drawing upon recent advances in language model alignment, we formulate offline Reinforcement Learning as a two-stage optimization problem: First pretraining expressive generative policies on reward-free behavior datasets, then fine-tuning…

Modeling multimodal human behavior has been a key barrier to increasing the level of interaction between human and robot, particularly for collaborative tasks. Our key insight is that an effective, learned robot policy used for human-robot…

The agent-environment co-design paradigm jointly optimises agent policies and environment configurations in search of improved system performance. With application domains ranging from warehouse logistics to windfarm management, co-design…

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…

We present PoseDiff, a conditional diffusion model that unifies robot state estimation and control within a single framework. At its core, PoseDiff maps raw visual observations into structured robot states-such as 3D keypoints or joint…