相关论文: Dual-Stream Diffusion for World-Model Augmented Vi…

Action recognition is an important research topic in computer vision. It is the basic work for visual understanding and has been applied in many fields. Since human actions can vary in different environments, it is difficult to infer…

We propose a conceptually simple and lightweight framework for improving the robustness of vision models through the combination of knowledge distillation and data augmentation. We address the conjecture that larger models do not make for…

Vision Language Model (VLM) typically assume complete modality input during inference. However, their effectiveness drops sharply when certain modalities are unavailable or incomplete. Current research on missing modality primarily faces…

Despite recent advances in dexterous manipulations, the manipulation of articulated objects and generalization across different categories remain significant challenges. To address these issues, we introduce DART, a novel framework that…

Learning a generalist embodied agent capable of completing multiple tasks poses challenges, primarily stemming from the scarcity of action-labeled robotic datasets. In contrast, a vast amount of human videos exist, capturing intricate tasks…

Vision-Language-Action (VLA) models have recently emerged as a promising paradigm for generalist robotic control. Built upon vision-language model (VLM) architectures, VLAs predict actions conditioned on visual observations and language…

We tackle the challenge of detecting multiple change points in large time series by optimising a penalised likelihood derived from exponential family models. Dynamic programming algorithms can solve this task exactly with at most quadratic…

Diffusion-based models for robotic control, including vision-language-action (VLA) and vision-action (VA) policies, have demonstrated significant capabilities. Yet their advancement is constrained by the high cost of acquiring large-scale…

We introduce Diffusion Augmented Agents (DAAG), a novel framework that leverages large language models, vision language models, and diffusion models to improve sample efficiency and transfer learning in reinforcement learning for embodied…

Why do pretrained diffusion or flow-matching policies fail when the same task is performed near an obstacle, on a shifted support surface, or amid mild clutter? Such failures rarely reflect missing motor skills; instead, they expose a…

The increasing demand for versatile robotic systems to operate in diverse and dynamic environments has emphasized the importance of a generalist policy, which leverages a large cross-embodiment data corpus to facilitate broad adaptability…

Vision-Language Action (VLA) models significantly advance robotic manipulation by leveraging the strong perception capabilities of pretrained vision-language models (VLMs). By integrating action modules into these pretrained models, VLA…

Block-wise discrete diffusion offers an attractive balance between parallel generation and causal dependency modeling, making it a promising backbone for vision-language modeling. However, its practical adoption has been limited by high…

Discrete diffusion models have emerged as a powerful class of models and a promising route to fast language generation, but practical implementations typically rely on factored reverse transitions ignoring cross-token dependencies and…

This paper proposes a novel approach to address the challenge that pretrained VLA models often fail to effectively improve performance and reduce adaptation costs during standard supervised finetuning (SFT). Some advanced finetuning methods…

Model-based RL is a promising approach for real-world robotics due to its improved sample efficiency and generalization capabilities compared to model-free RL. However, effective model-based RL solutions for vision-based real-world…

Acting in human environments is a crucial capability for general-purpose robots, necessitating a robust understanding of natural language and its application to physical tasks. This paper seeks to harness the capabilities of diffusion…

In robotics, Vision-Language-Action (VLA) models that integrate diverse multimodal signals from multi-view inputs have emerged as an effective approach. However, most prior work adopts static fusion that processes all visual inputs…

Vision-Language-Action (VLA) models have emerged as a promising paradigm for robot learning, but their representations are still largely inherited from static image-text pretraining, leaving physical dynamics to be learned from…

We present a method to generate video-action pairs that follow text instructions, starting from an initial image observation and the robot's joint states. Our approach automatically provides action labels for video diffusion models,…