相关论文: Masked Generative Policy for Robotic Control

Imitation learning is an effective and safe technique to train robot policies in the real world because it does not depend on an expensive random exploration process. However, due to the lack of exploration, learning policies that…

Grasping is a core task in robotics with various applications. However, most current implementations are primarily designed for rigid items, and their performance drops considerably when handling fragile or deformable materials that require…

Legged robots possess a unique ability to traverse rough terrains and navigate cluttered environments, making them well-suited for complex, real-world unstructured scenarios. However, such robots have not yet achieved the same level as seen…

Current work in explainable reinforcement learning generally produces policies in the form of a decision tree over the state space. Such policies can be used for formal safety verification, agent behavior prediction, and manual inspection…

Imitation learning from human demonstrations is an effective paradigm for robot manipulation, but acquiring large datasets is costly and resource-intensive, especially for long-horizon tasks. To address this issue, we propose SkillMimicGen…

Reasoning over long sequences of observations and actions is essential for many robotic tasks. Yet, learning effective long-context policies from demonstrations remains challenging. As context length increases, training becomes increasingly…

Integrated task and motion planning has emerged as a challenging problem in sequential decision making, where a robot needs to compute high-level strategy and low-level motion plans for solving complex tasks. While high-level strategies…

Conditional discrete generative models struggle to faithfully compose multiple input conditions. To address this, we derive a theoretically-grounded formulation for composing discrete probabilistic generative processes, with masked…

Conditional discrete generative models struggle to faithfully compose multiple input conditions. To address this, we derive a theoretically-grounded formulation for composing discrete probabilistic generative processes, with masked…

Model predictive control (MPC) provides a useful means for controlling systems with constraints, but suffers from the computational burden of repeatedly solving an optimization problem in real time. Offline (explicit) solutions for MPC…

Decision-making in robotics using denoising diffusion processes has increasingly become a hot research topic, but end-to-end policies perform poorly in tasks with rich contact and have limited controllability. This paper proposes…

Molecular dynamics (MD) is a powerful technique for studying microscopic phenomena, but its computational cost has driven significant interest in the development of deep learning-based surrogate models. We introduce generative modeling of…

Collision-free motion generation in unknown environments is a core building block for robot manipulation. Generating such motions is challenging due to multiple objectives; not only should the solutions be optimal, the motion generator…

World models that forecast environmental changes from actions are vital for autonomous driving models with strong generalization. The prevailing driving world model mainly build on video prediction model. Although these models can produce…

There has been a lot of recent interest in designing neural network models to estimate a distribution from a set of examples. We introduce a simple modification for autoencoder neural networks that yields powerful generative models. Our…

We study policy optimization problems for deterministic Markov decision processes (MDPs) with metric state and action spaces, which we refer to as Metric Policy Optimization Problems (MPOPs). Our goal is to establish theoretical results on…

Humanoid robots exhibit significant potential in executing diverse human-level skills. However, current research predominantly relies on data-driven approaches that necessitate extensive training datasets to achieve robust multimodal…

Recent robot learning methods commonly rely on imitation learning from massive robotic dataset collected with teleoperation. When facing a new task, such methods generally require collecting a set of new teleoperation data and finetuning…

Deep generative models, particularly diffusion and flow matching models, have recently shown remarkable potential in learning complex policies through imitation learning. However, the safety of generated motions remains overlooked,…

Imitation Learning offers a promising approach to learn directly from data without requiring explicit models, simulations, or detailed task definitions. During inference, actions are sampled from the learned distribution and executed on the…