相关论文: L1 Sample Flow for Efficient Visuomotor Learning

Diffusion-based visuomotor policies effectively capture multimodal action distributions through iterative denoising, but their high inference latency limits real-time robotic control. Recent flow matching and consistency-based methods…

This paper proposes an image-based robot motion planning method using a one-step diffusion model. While the diffusion model allows for high-quality motion generation, its computational cost is too expensive to control a robot in real time.…

Flow Matching (FM) models achieve remarkable results in generative tasks. Building upon diffusion models, FM's simulation-free training paradigm enables simplicity and efficiency but introduces a train-inference gap: model outputs cannot be…

Multi-task learning for dense prediction is limited by the need for extensive annotation for every task, though recent works have explored training with partial task labels. Leveraging the generalization power of diffusion models, we extend…

Generative models such as diffusion and flow matching have become dominant paradigms for visuomotor policy learning, yet their reliance on iterative denoising incurs high inference latency incompatible with real-time robotic control. We…

Diffusion models and flow-matching models have enabled generating diverse and realistic images by learning to transfer noise to data. However, sampling from these models involves iterative denoising over many neural network passes, making…

Aligning diffusion model outputs with downstream objectives is essential for improving task-specific performance. Broadly, inference-time training-free approaches for aligning diffusion models can be categorized into two main strategies:…

Limited by inference latency, existing robot manipulation policies lack sufficient real-time interaction capability with the environment. Although faster generation methods such as flow matching are gradually replacing diffusion methods,…

Robust robotic manipulation requires not only predicting how the scene evolves over time, but also recognizing task-relevant objects in complex scenes. However, existing VLA models face two limitations. They typically act only on the…

Reconstructing high-fidelity flow fields from low-fidelity observations is a central problem in scientific machine learning, yet recent diffusion and flow-matching models typically rely on iterative sampling, making them costly for…

Robots can acquire complex manipulation skills by learning policies from expert demonstrations, which is often known as vision-based imitation learning. Generating policies based on diffusion and flow matching models has been shown to be…

A wide variety of deep generative models has been developed in the past decade. Yet, these models often struggle with simultaneously addressing three key requirements including: high sample quality, mode coverage, and fast sampling. We call…

Aligning diffusion models to downstream tasks often requires finetuning new models or gradient-based guidance at inference time to enable sampling from the reward-tilted posterior. In this work, we explore a simple inference-time…

Diffusion model (DM)-based channel estimation, which generates channel samples via a posteriori sampling stepwise with denoising process, has shown potential in high-precision channel state information (CSI) acquisition. However, slow…

Stochastic human motion prediction is critical for safe and effective human-robot collaboration (HRC) in industrial remanufacturing, as it captures human motion uncertainties and multi-modal behaviors that deterministic methods cannot…

In recent years, generative models have shown remarkable capabilities across diverse fields, including images, videos, language, and decision-making. By applying powerful generative models such as flow-based models to reinforcement…

Thanks to the powerful generative capacity of diffusion models, recent years have witnessed rapid progress in human motion generation. Existing diffusion-based methods employ disparate network architectures and training strategies. The…

The diffusion models including Denoising Diffusion Probabilistic Models (DDPM) and score-based generative models have demonstrated excellent performance in speech synthesis tasks. However, its effectiveness comes at the cost of numerous…

Flow matching is a recent framework to train generative models that exhibits impressive empirical performance while being relatively easier to train compared with diffusion-based models. Despite its advantageous properties, prior methods…

Recently, there has been an increased interest in the practical problem of learning multiple dense scene understanding tasks from partially annotated data, where each training sample is only labeled for a subset of the tasks. The missing of…