相关论文: SeFA-Policy: Fast and Accurate Visuomotor Policy L…

We propose ReinFlow, a simple yet effective online reinforcement learning (RL) framework that fine-tunes a family of flow matching policies for continuous robotic control. Derived from rigorous RL theory, ReinFlow injects learnable noise…

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…

Self-supervised feed-forward methods for scene flow estimation offer real-time efficiency, but their supervision from two-frame point correspondences is unreliable and often breaks down under occlusions. Multi-frame supervision has the…

Flow Matching has emerged as a powerful framework for learning continuous transformations between distributions, enabling high-fidelity generative modeling. This work introduces Symmetrical Flow Matching (SymmFlow), a new formulation that…

Effective robot navigation in unseen environments is a challenging task that requires precise control actions at high frequencies. Recent advances have framed it as an image-goal-conditioned control problem, where the robot generates…

The application of reinforcement learning algorithms onto real life problems always bears the challenge of filtering the environmental state out of raw sensor readings. While most approaches use heuristics, biology suggests that there must…

Diffusion-based imitation learning improves Behavioral Cloning (BC) on multi-modal decision-making, but comes at the cost of significantly slower inference due to the recursion in the diffusion process. It urges us to design efficient…

Vision-Language-Action (VLA) models have emerged as a unified paradigm for robotic perception and control, enabling emergent generalization and long-horizon task execution. However, their deployment in dynamic, real-world environments is…

Vision-Language-Action (VLA) models exhibit strong generalization in robotic manipulation, yet reinforcement learning (RL) fine-tuning often degrades robustness under spatial distribution shifts. For flow-matching VLA policies, this…

Diffusion models can learn rich representations during data generation, showing potential for Self-Supervised Learning (SSL), but they face a trade-off between generative quality and discriminative performance. Their iterative sampling also…

Deep generative models have recently garnered significant attention across various fields, from physics to chemistry, where sampling from unnormalized Boltzmann-like distributions represents a fundamental challenge. In particular,…

This paper introduces a novel approach to Visual Forced Alignment (VFA), aiming to accurately synchronize utterances with corresponding lip movements, without relying on audio cues. We propose a novel VFA approach that integrates a local…

Vision-Language-Action (VLA) models trained with flow matching have demonstrated impressive capabilities on robotic manipulation tasks. However, their performance often degrades under distribution shift and on complex multi-step tasks,…

The emerging integration of robots into everyday life brings several major challenges. Compared to classical industrial applications, more flexibility is needed in combination with real-time reactivity. Learning-based methods can train…

Several recent studies have demonstrated the promise of deep visuomotor policies for robot manipulator control. Despite impressive progress, these systems are known to be vulnerable to physical disturbances, such as accidental or…

Optical flow estimation is a fundamental and long-standing visual task. In this work, we present a novel method, dubbed HMAFlow, to improve optical flow estimation in challenging scenes, particularly those involving small objects. The…

Motion prediction has been studied in different contexts with models trained on narrow distributions and applied to downstream tasks in human motion prediction and robotics. Simultaneously, recent efforts in scaling video prediction have…

Offline reinforcement learning (RL) provides a compelling paradigm for training autonomous systems without the risks of online exploration, particularly in safety-critical domains. However, jointly achieving strong safety and performance…

Behavior cloning methods for robot learning suffer from poor generalization due to limited data support beyond expert demonstrations. Recent approaches leveraging video prediction models have shown promising results by learning rich…

Visual reinforcement learning agents typically face serious performance declines in real-world applications caused by visual distractions. Existing methods rely on fine-tuning the policy's representations with hand-crafted augmentations. In…