相关论文: State-Action Inpainting Diffuser for Continuous Co…

We study stochastic delay differential equations (SDDE) where the coefficients depend on the moving averages of the state process. As a first contribution, we provide sufficient conditions under which a linear path functional of the…

Continual learning aims to provide intelligent agents that are capable of learning continually a sequence of tasks, building on previously learned knowledge. A key challenge in this learning paradigm is catastrophically forgetting…

Diffusion-based imitation learning has shown strong promise for robot manipulation. However, most existing policies condition only on the current observation or a short window of recent observations, limiting their ability to resolve…

Prediction beyond partial observations is crucial for robots to navigate in unknown environments because it can provide extra information regarding the surroundings beyond the current sensing range or resolution. In this work, we consider…

Accurate, efficient, and robust state estimation is more important than ever in robotics as the variety of platforms and complexity of tasks continue to grow. Historically, discrete-time filters and smoothers have been the dominant…

Deep reinforcement learning has demonstrated increasing capabilities for continuous control problems, including agents that can move with skill and agility through their environment. An open problem in this setting is that of developing…

We propose CLAD -- a Constrained Latent Action Diffusion model for vision-language procedure planning in instructional videos. Procedure planning is the challenging task of predicting intermediate actions given a visual observation of a…

Though robot learning is often formulated in terms of discrete-time Markov decision processes (MDPs), physical robots require near-continuous multiscale feedback control. Machines operate on multiple asynchronous sensing modalities, each…

Speech-driven 3D facial animation is challenging due to the scarcity of large-scale visual-audio datasets despite extensive research. Most prior works, typically focused on learning regression models on a small dataset using the method of…

Learning-based control methods typically assume stationary system dynamics, an assumption often violated in real-world systems due to drift, wear, or changing operating conditions. We study reinforcement learning for control under…

We address the problem of 3D inconsistency of image inpainting based on diffusion models. We propose a generative model using image pairs that belong to the same scene. To achieve the 3D-consistent and semantically coherent inpainting, we…

Diffusion models have seen rapid adoption in robotic imitation learning, enabling autonomous execution of complex dexterous tasks. However, action synthesis is often slow, requiring many steps of iterative denoising, limiting the extent to…

Deep learning model effectiveness in classification tasks is often challenged by the quality and quantity of training data whenever they are affected by strong spurious correlations between specific attributes and target labels. This…

Consider an imitation learning problem that the imitator and the expert have different dynamics models. Most of the current imitation learning methods fail because they focus on imitating actions. We propose a novel state alignment-based…

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…

In layout-to-image (L2I) synthesis, controlled complex scenes are generated from coarse information like bounding boxes. Such a task is exciting to many downstream applications because the input layouts offer strong guidance to the…

While the rapid progress of deep learning fuels end-to-end reinforcement learning (RL), direct application, especially in high-dimensional space like robotic scenarios still suffers from low sample efficiency. Therefore State Representation…

Generating realistic simulations is critical for autonomous system applications such as self-driving and human-robot interactions. However, driving simulators nowadays still have difficulty in generating controllable, diverse, and…

Sequence modeling approaches have shown promising results in robot imitation learning. Recently, diffusion models have been adopted for behavioral cloning in a sequence modeling fashion, benefiting from their exceptional capabilities in…

Self-imitation learning is a Reinforcement Learning (RL) method that encourages actions whose returns were higher than expected, which helps in hard exploration and sparse reward problems. It was shown to improve the performance of…