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

Flow matching has emerged as a competitive framework for learning high-quality generative policies in robotics; however, we find that generalisation arises and saturates early along the flow trajectory, in accordance with recent findings in…

The ability to learn multi-modal action distributions is indispensable for robotic manipulation policies to perform precise and robust control. Flow-based generative models have recently emerged as a promising solution to learning…

Current end-to-end autonomous driving systems are fundamentally limited by a mismatch between temporal causal reasoning and global trajectory consistency. Autoregressive (AR) models capture interaction-aware temporal dependencies via causal…

Forced alignment refers to a technology that time-aligns a given transcription with a corresponding speech. However, as the forced alignment technologies have developed using speech audio, they might fail in alignment when the input speech…

Flow matching has emerged as a promising framework for training generative models, demonstrating impressive empirical performance while offering relative ease of training compared to diffusion-based models. However, this method still…

Flow models are effective at progressively generating realistic images, but they generally struggle to capture long-range dependencies during the generation process as they compress all the information from previous time steps into a single…

We introduce WAM-Flow, a vision-language-action (VLA) model that casts ego-trajectory planning as discrete flow matching over a structured token space. In contrast to autoregressive decoders, WAM-Flow performs fully parallel, bidirectional…

Flow-based vision-language-action (VLA) policies offer strong expressivity for action generation, but suffer from a fundamental inefficiency: multi-step inference is required to recover action structure from uninformative Gaussian noise,…

Vision-Language-Action (VLA) models have achieved significant breakthroughs by leveraging Large Vision Language Models (VLMs) to jointly interpret instructions and visual inputs. However, the substantial increase in visual tokens,…

Visually-guided acoustic highlighting seeks to rebalance audio in alignment with the accompanying video, creating a coherent audio-visual experience. While visual saliency and enhancement have been widely studied, acoustic highlighting…

Diffusion and flow matching have emerged as expressive policy classes in reinforcement learning, but their reliance on multi-step denoising imposes substantial computational overhead at inference time, which is particularly problematic in…

Efficient and lightweight adaptation of pre-trained Vision-Language Models (VLMs) to downstream tasks through collaborative interactions between local clients and a central server is a rapidly emerging research topic in federated learning.…

Human action-reaction synthesis, a fundamental challenge in modeling causal human interactions, plays a critical role in applications ranging from virtual reality to social robotics. While diffusion-based models have demonstrated promising…

Vision-Language-Action systems follow instructions to execute multi-step tasks in multimodal environments. Recent VLA approaches typically rely on post-hoc correction mechanisms or operate under fixed task decompositions and alignment…

Soft actor-critic (SAC) is a popular algorithm for max-entropy reinforcement learning. In practice, the energy-based policies in SAC are often approximated using simple policy classes for efficiency, sacrificing the expressiveness and…

Efficient and accurate motion prediction is crucial for ensuring safety and informed decision-making in autonomous driving, particularly under dynamic real-world conditions that necessitate multi-modal forecasts. We introduce TrajFlow, a…

A unified video and action model holds significant promise for robotics, where videos provide rich scene information for action prediction, and actions provide dynamics information for video prediction. However, effectively combining video…

Many Vision-Language-Action (VLA) models are built upon an internal world model trained via next-frame prediction ``$v_t \rightarrow v_{t+1}$''. However, this paradigm attempts to predict the future frame's appearance directly, without…

Real-time execution is crucial for deploying Vision-Language-Action (VLA) models in the physical world. Existing asynchronous inference methods primarily optimize trajectory smoothness, but neglect the critical latency in reacting to…

In recent years, increasing attention has been directed to leveraging pre-trained vision models for motor control. While existing works mainly emphasize the importance of this pre-training phase, the arguably equally important role played…