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

Sampling-based motion planning is the predominant paradigm in many real-world robotic applications, but its performance is immensely dependent on the quality of the samples. The majority of traditional planners are inefficient as they use…

Mean field control (MFC) problems have vast applications in artificial intelligence, engineering, and economics, while solving MFC problems accurately and efficiently in high-dimensional spaces remains challenging. This work introduces…

State estimation from limited sensor measurements is ubiquitously found as a common challenge in a broad range of fields including mechanics, astronomy, and geophysics. Fluid mechanics is no exception -- state estimation of fluid flows is…

We present a novel approach (DyNODE) that captures the underlying dynamics of a system by incorporating control in a neural ordinary differential equation framework. We conduct a systematic evaluation and comparison of our method and…

The ability to reason about changes in the environment is crucial for robots operating over extended periods of time. Agents are expected to capture changes during operation so that actions can be followed to ensure a smooth progression of…

Neural network-based anomaly detection methods have shown to achieve high performance. However, they require a large amount of training data for each task. We propose a neural network-based meta-learning method for supervised anomaly…

Real-world deployment of reliable object detectors is crucial for applications such as autonomous driving. However, general-purpose object detectors like Faster R-CNN are prone to providing overconfident predictions for outlier objects.…

Conditional Flow Matching (CFM), a simulation-free method for training continuous normalizing flows, provides an efficient alternative to diffusion models for key tasks like image and video generation. The performance of CFM in solving…

Flow matching policies learn continuous velocity fields that transport noise to actions, enabling fast deterministic inference for robot manipulation. However, standard training optimizes a pointwise velocity objective while inference…

Diffusion-based vision-language-action (VLA) models have emerged as strong priors for robotic manipulation, yet adapting them to real-world distributions remains challenging. In particular, on-robot reinforcement learning (RL) is expensive…

Vision-Language-Action (VLA) models enable general-purpose robotic policies by mapping visual observations and language instructions to low-level actions, but they often lack reliable introspection. A common practice is to compute a…

Recent vision-language-action models (VLAs) build upon pretrained vision-language models and leverage diverse robot datasets to demonstrate strong task execution, language following ability, and semantic generalization. Despite these…

Vision-Language-Action (VLA) models have recently made significant advance in multi-task, end-to-end robotic control, due to the strong generalization capabilities of Vision-Language Models (VLMs). A fundamental challenge in developing such…

Unsupervised anomaly detection and localization is crucial to the practical application when collecting and labeling sufficient anomaly data is infeasible. Most existing representation-based approaches extract normal image features with a…

Learning has propelled the cutting edge of performance in robotic control to new heights, allowing robots to operate with high performance in conditions that were previously unimaginable. The majority of the work, however, assumes that the…

Event cameras capture brightness changes asynchronously with microsecond resolution, yet existing optical flow methods fail to fully exploit this temporal continuity. Frame-based approaches impose artificial accumulation latency and suffer…

Foundation models, e.g., large language models (LLMs), trained on internet-scale data possess zero-shot generalization capabilities that make them a promising technology towards detecting and mitigating out-of-distribution failure modes of…

Recent advances in vision-language-action (VLA) models have shown promise in integrating image generation with action prediction to improve generalization and reasoning in robot manipulation. However, existing methods are limited to…

Reinforcement learning (RL) can refine Vision-Language-Action (VLA) policies beyond behavior cloning, but real-world RL remains expensive due to extensive rollouts, resets, supervision, and safety risks. Action-conditioned video world…

Video anomaly detection is a challenging task because of diverse abnormal events. To this task, methods based on reconstruction and prediction are wildly used in recent works, which are built on the assumption that learning on normal data,…