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

Following its success in natural language processing and computer vision, foundation models that are pre-trained on large-scale multi-task datasets have also shown great potential in robotics. However, most existing robot foundation models…

Discontinuous motion which is a motion composed of multiple continuous motions with sudden change in direction or velocity in between, can be seen in state-aware robotic tasks. Such robotic tasks are often coordinated with sensor…

Diffusion policies trained via offline behavioral cloning have recently gained traction in robotic motion generation. While effective, these policies typically require a large number of trainable parameters. This model size affords powerful…

Real-time robotic control demands fast action generation. However, existing generative policies based on diffusion and flow matching require multi-step sampling, fundamentally limiting deployment in time-critical scenarios. We propose…

Accurate modeling of robot dynamics is essential for model-based control, yet remains challenging under distributional shifts and real-time constraints. In this work, we formulate system identification as an in-context meta-learning problem…

Consistency models have recently been introduced to accelerate sampling from diffusion models by directly predicting the solution (i.e., data) of the probability flow ODE (PF ODE) from initial noise. However, the training of consistency…

The problem of learning to generalize to unseen classes during training, known as few-shot classification, has attracted considerable attention. Initialization based methods, such as the gradient-based model agnostic meta-learning (MAML),…

Manipulation of articulated and deformable objects can be difficult due to their compliant and under-actuated nature. Unexpected disturbances can cause the object to deviate from a predicted state, making it necessary to use…

Classification on long-tailed distributed data is a challenging problem, which suffers from serious class-imbalance and hence poor performance on tail classes with only a few samples. Owing to this paucity of samples, learning on the tail…

Composing simple elements into complex concepts is crucial yet challenging, especially for 3D action generation. Existing methods largely rely on extensive neural language annotations to discern composable latent semantics, a process that…

When applied to large-scale learning problems, the conventional wisdom on privacy-preserving deep learning, known as Differential Private Stochastic Gradient Descent (DP-SGD), has met with limited success due to significant performance…

To ensure that a robot is able to accomplish an extensive range of tasks, it is necessary to achieve a flexible combination of multiple behaviors. This is because the design of task motions suited to each situation would become increasingly…

Federated learning (FL), which has gained increasing attention recently, enables distributed devices to train a common machine learning (ML) model for intelligent inference cooperatively without data sharing. However, problems in practical…

In federated learning (FL), local personalization of models has received significant attention, yet personalized fine-tuning of foundation models remains underexplored. In particular, there is a lack of understanding in the literature on…

Text-to-image diffusion models have achieved state-of-the-art results in synthesis tasks; however, there is a growing concern about their potential misuse in creating harmful content. To mitigate these risks, post-hoc model intervention…

The emergence of generative models enables the creation of texts and images tailored to users' preferences. Existing personalized generative models have two critical limitations: lacking a dedicated paradigm for accurate preference…

Real-time motion-controllable video generation remains challenging due to the inherent latency of bidirectional diffusion models and the lack of effective autoregressive (AR) approaches. Existing AR video diffusion models are limited to…

This paper addresses the problem of composite synchronization and learning control in a network of multi-agent robotic manipulator systems with heterogeneous nonlinear uncertainties under a leader-follower framework. A novel two-layer…

Humanoid loco-manipulation requires coordinated high-level motion plans with stable, low-level whole-body execution under complex robot-environment dynamics and long-horizon tasks. While diffusion policies (DPs) show promise for learning…

We propose DemoDiffusion, a simple method for enabling robots to perform manipulation tasks by imitating a single human demonstration, without requiring task-specific training or paired human-robot data. Our approach is based on two…