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

Although deep learning and end-to-end models have been widely used and shown superiority in automatic speech recognition (ASR) and text-to-speech (TTS) synthesis, state-of-the-art forced alignment (FA) models are still based on hidden…

Pre-trained generalist policies are rapidly gaining relevance in robot learning due to their promise of fast adaptation to novel, in-domain tasks. This adaptation often relies on collecting new demonstrations for a specific task of interest…

Strong semantic representations improve the convergence and generation quality of diffusion and flow models. Existing approaches largely rely on external models, which require separate training, operate on misaligned objectives, and exhibit…

Recently, some studies have integrated Multimodal Large Language Models into robotic manipulation, constructing vision-language-action models (VLAs) to interpret multimodal information and predict SE(3) poses. While VLAs have shown…

Flow-field reconstruction from sparse sensor measurements remains a central challenge in modern fluid dynamics, as the need for high-fidelity data often conflicts with practical limits on sensor deployment. Existing deep learning-based…

State-of-the-art scene flow algorithms pursue the conflicting targets of accuracy, run time, and robustness. With the successful concept of pixel-wise matching and sparse-to-dense interpolation, we push the limits of scene flow estimation.…

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…

Existing rectified flow models are based on linear trajectories between data and noise distributions. This linearity enforces zero curvature, which can inadvertently force the image generation process through low-probability regions of the…

Training expressive flow-based policies with off-policy reinforcement learning is notoriously unstable due to gradient pathologies in the multi-step action sampling process. We trace this instability to a fundamental connection: the flow…

Optical flow estimation is crucial to a variety of vision tasks. Despite substantial recent advancements, achieving real-time on-device optical flow estimation remains a complex challenge. First, an optical flow model must be sufficiently…

Imitation learning with diffusion models has advanced robotic control by capturing the multi-modal action distributions. However, existing methods typically treat observations only as high-level conditions to the denoising network, rather…

Few-shot imitation learning relies on only a small amount of task-specific demonstrations to efficiently adapt a policy for a given downstream tasks. Retrieval-based methods come with a promise of retrieving relevant past experiences to…

Although methods for estimating the pose of objects in indoor scenes have achieved great success, the pose estimation of underwater objects remains challenging due to difficulties brought by the complex underwater environment, such as…

Multimodal instruction tuning is the de facto recipe for adapting vision language models (VLMs), yet instruction data are highly redundant, making data selection critical for training efficiency. Existing methods derive selection signals…

Behavioral skills or policies for autonomous agents are conventionally learned from reward functions, via reinforcement learning, or from demonstrations, via imitation learning. However, both modes of task specification have their…

Vision-Language-Action (VLA) models are a promising paradigm for generalist robotic manipulation by grounding high-level semantic instructions into executable physical actions. However, prevailing approaches typically adopt a monolithic…

Efficient point-to-point navigation in the presence of a background flow field is important for robotic applications such as ocean surveying. In such applications, robots may only have knowledge of their immediate surroundings or be faced…

Reinforcement Fine-Tuning (RFT) on flow-based models is crucial for preference alignment. However, they often introduce visual hallucinations like over-optimized details and semantic misalignment. This work preliminarily explores why visual…

Scene flow prediction is a crucial underlying task in understanding dynamic scenes as it offers fundamental motion information. However, contemporary scene flow methods encounter three major challenges. Firstly, flow estimation solely based…

Federated learning (FL) is a promising distributed paradigm, eliminating the need for data sharing but facing challenges from data heterogeneity. Personalized parameter generation through a hypernetwork proves effective, yet existing…