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

The class-conditional image generation based on diffusion models is renowned for generating high-quality and diverse images. However, most prior efforts focus on generating images for general categories, e.g., 1000 classes in ImageNet-1k. A…

Temporal action segmentation is crucial for understanding long-form videos. Previous works on this task commonly adopt an iterative refinement paradigm by using multi-stage models. We propose a novel framework via denoising diffusion…

Diffusion models (DMs) have recently emerged as SoTA tools for generative modeling in various domains. Standard DMs can be viewed as an instantiation of hierarchical variational autoencoders (VAEs) where the latent variables are inferred…

Learning a generalist embodied agent capable of completing multiple tasks poses challenges, primarily stemming from the scarcity of action-labeled robotic datasets. In contrast, a vast amount of human videos exist, capturing intricate tasks…

Existing image generation models face critical challenges regarding the trade-off between computation and fidelity. Specifically, models relying on a pretrained Variational Autoencoder (VAE) suffer from information loss, limited detail, and…

Multi-Robot Motion Planning (MRMP) involves generating collision-free trajectories for multiple robots operating in a shared continuous workspace. While discrete multi-agent path finding (MAPF) methods are broadly adopted due to their…

Diffusion models, such as diffusion policy, have achieved state-of-the-art results in robotic manipulation by imitating expert demonstrations. While diffusion models were originally developed for vision tasks like image and video…

Diffusion models have been verified to be effective in generating complex distributions from natural images to motion trajectories. Recent diffusion-based methods show impressive performance in 3D robotic manipulation tasks, whereas they…

Modeling generalized robot control policies poses ongoing challenges for language-guided robot manipulation tasks. Existing methods often struggle to efficiently utilize cross-dataset resources or rely on resource-intensive vision-language…

As Artificial Intelligence models, such as Large Video-Language models (VLMs), grow in size, their deployment in real-world applications becomes increasingly challenging due to hardware limitations and computational costs. To address this,…

The current dominant paradigm for robotic manipulation involves two separate stages: manipulator design and control. Because the robot's morphology and how it can be controlled are intimately linked, joint optimization of design and control…

Given a dataset of expert trajectories, standard imitation learning approaches typically learn a direct mapping from observations (e.g., RGB images) to actions. However, such methods often overlook the rich interplay between different…

Multi-agent robotic manipulation remains challenging due to the combined demands of coordination, grasp stability, and collision avoidance in shared workspaces. To address these challenges, we propose the Adaptive Dynamic Modality Diffusion…

Generative modeling over discrete structures underpins applications across deep learning, from biological sequence design and code generation to large language models, yet generation often remains sequential, relying on autoregressive…

Federated Learning (FL) is a promising machine learning paradigm that enables participating devices to train privacy-preserved and collaborative models. FL has proven its benefits for robotic manipulation tasks. However, grasping tasks lack…

Temporal action detection aims to locate and classify actions in untrimmed videos. While recent works focus on designing powerful feature processors for pre-trained representations, they often overlook the inherent noise and redundancy…

Developments in dynamical systems theory provides new support for the macroscale modelling of pdes and other microscale systems such as Lattice Boltzmann, Monte Carlo or Molecular Dynamics simulators. By systematically resolving subgrid…

Prompt learning has demonstrated promising results in fine-tuning pre-trained multimodal models. However, the performance improvement is limited when applied to more complex and fine-grained tasks. The reason is that most existing methods…

We present a Learning from Demonstration (LfD) framework that achieves one-shot generalization in multi-stage, contact-rich manipulation tasks. Central to our approach is the utilization of environmental constraints as the inductive bias.…

Robotic grasping is a fundamental skill required for object manipulation in robotics. Multi-fingered robotic hands, which mimic the structure of the human hand, can potentially perform complex object manipulation. Nevertheless, current…