相关论文: MotionGRPO: Overcoming Low Intra-Group Diversity i…

Optimizing discrete diffusion model (DDM) with rewards remains a challenge: the non-autoregressive paradigm makes importance sampling intractable and rollout complex, puzzling reinforcement learning methods such as Group Relative Policy…

Multi-fingered hands are emerging as powerful platforms for performing fine manipulation tasks, including tool use. However, environmental perturbations or execution errors can impede task performance, motivating the use of recovery…

Diffusion has emerged as a powerful framework for generative modeling, achieving remarkable success in applications such as image and audio synthesis. Enlightened by this progress, we propose a novel diffusion-based approach for symbolic…

Motion capture technologies have transformed numerous fields, from the film and gaming industries to sports science and healthcare, by providing a tool to capture and analyze human movement in great detail. The holy grail in the topic of…

Diffusion Models have revolutionized the field of human motion generation by offering exceptional generation quality and fine-grained controllability through natural language conditioning. Their inherent stochasticity, that is the ability…

While 3D hand reconstruction from monocular images has made significant progress, generating accurate and temporally coherent motion estimates from videos remains challenging, particularly during hand-object interactions. In this paper, we…

Diffusion models have emerged as powerful tools for 3D medical image generation, yet bridging the gap between standard training objectives and clinical relevance remains a challenge. This paper presents a method to enhance 3D diffusion…

Human body restoration plays a vital role in various applications related to the human body. Despite recent advances in general image restoration using generative models, their performance in human body restoration remains mediocre, often…

Recent advances in reinforcement learning (RL) have achieved great successes by leveraging the multimodality and exploration capability of diffusion policies. Among these approaches, one representative branch focuses on the sampling-based…

We propose RoHM, an approach for robust 3D human motion reconstruction from monocular RGB(-D) videos in the presence of noise and occlusions. Most previous approaches either train neural networks to directly regress motion in 3D or learn…

Current mainstream methods of aligning diffusion models with human preferences typically employ VLM-based reward models. However, these reward models, pre-trained for semantic alignment, struggle to capture the essential perceptual…

Recently, reinforcement learning (RL) has been employed for improving generative image super-resolution (ISR) performance. However, the current efforts are focused on multi-step generative ISR, while one-step generative ISR remains…

Diffusion policies, widely adopted in decision-making scenarios such as robotics, gaming and autonomous driving, are capable of learning diverse skills from demonstration data due to their high representation power. However, the sub-optimal…

Current robotic pick-and-place policies typically require consistent gripper configurations across training and inference. This constraint imposes high retraining or fine-tuning costs, especially for imitation learning-based approaches,…

While reinforcement learning methods such as Group Relative Preference Optimization (GRPO) have significantly enhanced Large Language Models, adapting them to diffusion models remains challenging. In particular, GRPO demands a stochastic…

In the real world, trajectory data is often sparse and incomplete due to low collection frequencies or limited device coverage. Trajectory recovery aims to recover these missing trajectory points, making the trajectories denser and more…

This work focuses on the problem of reconstructing a 3D human body mesh from a given 2D image. Despite the inherent ambiguity of the task of human mesh recovery, most existing works have adopted a method of regressing a single output. In…

Diffusion models have shown remarkable flexibility for solving inverse problems without task-specific retraining. However, existing approaches such as Manifold Preserving Guided Diffusion (MPGD) apply only a single gradient update per…

Recently, Masked Diffusion Models (MDMs) have shown promising potential across vision, language, and cross-modal generation. However, a notable discrepancy exists between their training and inference procedures. In particular, MDM inference…

Diffusion models are a class of flexible generative models trained with an approximation to the log-likelihood objective. However, most use cases of diffusion models are not concerned with likelihoods, but instead with downstream objectives…