相关论文: Abstracting Robot Manipulation Skills via Mixture-…

The increasing complexity of tasks in robotics demands efficient strategies for multitask and continual learning. Traditional models typically rely on a universal policy for all tasks, facing challenges such as high computational costs and…

Diffusion policies (DP) have recently shown great promise for generating actions in robotic manipulation. However, existing approaches often rely on global instructions to produce short-term control signals, which can result in misalignment…

Diffusion-based policies have established a new standard for precise robotic manipulation but face a critical scalability bottleneck: high-performance models are computationally expensive, while lightweight alternatives often fail to…

Intelligent surgical robots have the potential to revolutionize clinical practice by enabling more precise and automated surgical procedures. However, the automation of such robot for surgical tasks remains under-explored compared to recent…

Diffusion policies have emerged as a powerful framework for robotic visuomotor control, yet they often lack the robustness to recover from subtask failures in long-horizon, multi-stage tasks and their learned representations of observations…

This paper focuses on enhancing the grasping precision and generalization of manipulation policies learned via imitation learning. Diffusion-based policy learning methods have recently become the mainstream approach for robotic manipulation…

Imitation learning has demonstrated strong performance in robotic manipulation by learning from large-scale human demonstrations. While existing models excel at single-task learning, it is observed in practical applications that their…

We propose MADP, a novel diffusion-model-based approach for collaboration in decentralized robot swarms. MADP leverages diffusion models to generate samples from complex and high-dimensional action distributions that capture the…

We aim to solve the problem of generating coarse-to-fine skills learning from demonstrations (LfD). To scale precision, traditional LfD approaches often rely on extensive fine-grained demonstrations with external interpolations or dynamics…

Robots hold great promise for performing repetitive or hazardous tasks, but achieving human-like dexterity, especially in contact-rich and dynamic environments, remains challenging. Rigid robots, which rely on position or velocity control,…

End-to-end autonomous driving remains constrained by the difficulty of producing adaptive, robust, and interpretable decision-making across diverse scenarios. Existing methods often collapse diverse driving behaviors, lack long-horizon…

Learning based multi-robot path planning methods struggle to scale or generalize to changes, particularly variations in the number of robots during deployment. Most existing methods are trained on a fixed number of robots and may tolerate a…

Recent advances in diffusion models hold significant potential in robotics, enabling the generation of diverse and smooth trajectories directly from raw representations of the environment. Despite this promise, applying diffusion models to…

Diffusion Policy (DP) enables robots to learn complex behaviors by imitating expert demonstrations through action diffusion. However, in practical applications, hardware limitations often degrade data quality, while real-time constraints…

Recent work has demonstrated the potential of diffusion models in robot bimanual skill learning. However, existing methods ignore the learning of posture-dependent task features, which are crucial for adapting dual-arm configurations to…

Current robotic pick-and-place policies typically require consistent gripper configurations across training and inference. This constraint imposes high retraining or fine-tuning costs, especially for imitation learning-based approaches,…

Diffusion Policy is a powerful technique tool for learning end-to-end visuomotor robot control. It is expected that Diffusion Policy possesses scalability, a key attribute for deep neural networks, typically suggesting that increasing model…

Recent advances in skill learning has propelled robot manipulation to new heights by enabling it to learn complex manipulation tasks from a practical number of demonstrations. However, these skills are often limited to the particular…

Robotic manipulation tasks often rely on static cameras for perception, which can limit flexibility, particularly in scenarios like robotic surgery and cluttered environments where mounting static cameras is impractical. Ideally, robots…

Visual-motor policy learning has advanced with architectures like diffusion-based policies, known for modeling complex robotic trajectories. However, their prolonged inference times hinder high-frequency control tasks requiring real-time…