相关论文: Primary-Fine Decoupling for Action Generation in R…

This paper introduces a novel approach for modeling the dynamics of soft robots, utilizing a differentiable filter architecture. The proposed approach enables end-to-end training to learn system dynamics, noise characteristics, and temporal…

Consistency-based generative models like Shortcut and MeanFlow achieve impressive results via a target-aware design for solving the Probability Flow ODE (PF-ODE). Typically, such methods introduce a target time $r$ alongside the current…

Background and objective: Employing deep learning models in critical domains such as medical imaging poses challenges associated with the limited availability of training data. We present a strategy for improving the performance and…

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…

To balance quality and cost, various domain areas of science and engineering run simulations at multiple levels of sophistication. Multi-fidelity active learning aims to learn a direct mapping from input parameters to simulation outputs at…

Generative models have made remarkable advancements and are capable of producing high-quality content. However, performing controllable editing with generative models remains challenging, due to their inherent uncertainty in outputs. This…

This paper introduces ManiFlow, a visuomotor imitation learning policy for general robot manipulation that generates precise, high-dimensional actions conditioned on diverse visual, language and proprioceptive inputs. We leverage flow…

With the success of image generation, generative diffusion models are increasingly adopted for discriminative tasks, as pixel generation provides a unified perception interface. However, directly repurposing the generative denoising process…

Action detection aims to localize the starting and ending points of action instances in untrimmed videos, and predict the classes of those instances. In this paper, we make the observation that the outputs of the action detection task can…

Discrete diffusion models are a powerful class of generative models with strong performance across many domains. For efficiency, however, discrete diffusion typically parameterizes the generative (reverse) process with factorized…

We present a novel Learning from Demonstration (LfD) method, Deformable Manipulation from Demonstrations (DMfD), to solve deformable manipulation tasks using states or images as inputs, given expert demonstrations. Our method uses…

Reinforcement Learning (RL) has achieved remarkable success in various continuous control tasks, such as robot manipulation and locomotion. Different to mainstream RL which makes decisions at individual steps, recent studies have…

Dynamic graphs are ubiquitous in real-world systems, and building generalizable dynamic Graph Foundation Models has become a frontier in graph learning. However, dynamic graphs from different domains pose fundamental challenges to unified…

Automatic speech recognition models require large amounts of speech recordings for training. However, the collection of such data often is cumbersome and leads to privacy concerns. Federated learning has been widely used as an effective…

Diffusion models are trained by learning a sequence of models that reverse each step of noise corruption. Typically, the model parameters are fully shared across multiple timesteps to enhance training efficiency. However, since the…

Decomposition plays a significant role in cooperative co-evolution which shows great potential in large scale black-box optimization. However, current popular decomposition algorithms generally require to sample and evaluate a large number…

Training neural networks with back-propagation (BP) requires a sequential passing of activations and gradients, which forces the network modules to work in a synchronous fashion. This has been recognized as the lockings (i.e., the forward,…

Diffusion policies have recently emerged as a powerful class of visuomotor controllers for robot manipulation, offering stable training and expressive multi-modal action modeling. However, existing approaches typically treat action…

Robotic grasping under uncertainty remains a fundamental challenge due to its uncertain and contact-rich nature. Traditional rigid robotic hands, with limited degrees of freedom and compliance, rely on complex model-based and heavy feedback…

Multi-degree-of-freedom (DOF) robotic manipulators exhibit strongly nonlinear, high-dimensional, and coupled dynamics, posing significant challenges for controller design. To address these issues, this work proposes a unified hybrid control…