相关论文: RC-NF: Robot-Conditioned Normalizing Flow for Real…

Vision-Language-Action (VLA) models have shown strong performance on embodied manipulation, yet they remain brittle under visual observation changes, paraphrased language instructions, and compounded perturbations. This limitation suggests…

Continuous normalizing flows (CNFs) construct invertible mappings between an arbitrary complex distribution and an isotropic Gaussian distribution using Neural Ordinary Differential Equations (neural ODEs). It has not been tractable on…

Diffusion and flow matching models have emerged as powerful robot policies, enabling Vision-Language-Action (VLA) models to generalize across diverse scenes and instructions. Yet, when trained via imitation learning, their high generative…

In partially observable (PO) environments, deep reinforcement learning (RL) agents often suffer from unsatisfactory performance, since two problems need to be tackled together: how to extract information from the raw observations to solve…

A fundamental requirement for real-world robotic deployment is the ability to understand and respond to natural language instructions. Existing language-conditioned manipulation tasks typically assume that instructions are perfectly aligned…

In this paper, we explore the potential of generative machine learning models as an alternative to the computationally expensive Monte Carlo (MC) simulations commonly used by the Large Hadron Collider (LHC) experiments. Our objective is to…

Video Anomaly Detection (VAD) can play a key role in spotting unusual activities in video footage. VAD is difficult to use in real-world settings due to the dynamic nature of human actions, environmental variations, and domain shifts.…

Continuous Normalizing Flows (CNFs) have emerged as promising deep generative models for a wide range of tasks thanks to their invertibility and exact likelihood estimation. However, conditioning CNFs on signals of interest for conditional…

Real-time execution is crucial for deploying Vision-Language-Action (VLA) models in the physical world. Existing asynchronous inference methods primarily optimize trajectory smoothness, but neglect the critical latency in reacting to…

We consider the problem of building visual anomaly detection systems for mobile robots. Standard anomaly detection models are trained using large datasets composed only of non-anomalous data. However, in robotics applications, it is often…

World models predict future transitions from observations and actions. Existing works predominantly focus on image generation only. Visual feature-based world models, on the other hand, predict future visual features instead of raw video…

Recent advances in Vision-Language-Action (VLA) models have established a two-component architecture, where a pre-trained Vision-Language Model (VLM) encodes visual observations and task descriptions, and an action decoder maps these…

Normalizing Flows (NFs) are able to model complicated distributions p(y) with strong inter-dimensional correlations and high multimodality by transforming a simple base density p(z) through an invertible neural network under the change of…

We tackle unsupervised anomaly detection (UAD), a problem of detecting data that significantly differ from normal data. UAD is typically solved by using density estimation. Recently, deep neural network (DNN)-based density estimators, such…

Vision-Language-Action (VLA) models have demonstrated strong potential for predicting semantic actions in navigation tasks, demonstrating the ability to reason over complex linguistic instructions and visual contexts. However, they are…

Imitation learning is an efficient method for teaching robots a variety of tasks. Diffusion Policy, which uses a conditional denoising diffusion process to generate actions, has demonstrated superior performance, particularly in learning…

Modern robotic perception is highly dependent on neural networks. It is well known that neural network-based perception can be unreliable in real-world deployment, especially in difficult imaging conditions. Out-of-distribution detection is…

Learned robot policies have consistently been shown to be versatile, but they typically have no built-in mechanism for handling the complexity of open environments, making them prone to execution failures; this implies that deploying…

Vision-Language-Action (VLA) models have shown strong capabilities in robot manipulation by leveraging rich representations from pre-trained Vision-Language Models (VLMs). However, their representations arguably remain suboptimal, lacking…

Recent advances in FlowMatching-based Vision-Language-Action (VLA) frameworks have demonstrated remarkable advantages in generating high-frequency action chunks, particularly for highly dexterous robotic manipulation tasks. Despite these…