相关论文: Factored Diffusion Policies:Compositionally Genera…

Learning to plan for multi-step, multi-manipulator tasks is notoriously difficult because of the large search space and the complex constraint satisfaction problems. We present Generative Factor Chaining~(GFC), a composable generative model…

Route planning for navigation under partial observability plays a crucial role in modern robotics and autonomous driving. Existing route planning approaches can be categorized into two main classes: traditional autoregressive and…

Diffusion policies have emerged as powerful generative models for offline policy learning, whose sampling process can be rigorously characterized by a score function guiding a stochastic differential equation (SDE). However, the same…

The lack of sufficiently diverse data, coupled with limited data efficiency, remains a major bottleneck for generalist robotic models, yet systematic strategies for collecting and curating such data are not fully explored. Task diversity…

Diffusion Policy (DP) enables robots to learn complex behaviors by imitating expert demonstrations through action diffusion. However, in practical applications, hardware limitations often degrade data quality, while real-time constraints…

Safe, reliable navigation in extreme, unfamiliar terrain is required for future robotic space exploration missions. Recent generative-AI methods learn semantically aware navigation policies from large, cross-embodiment datasets, but offer…

We present FlightDiffusion, a diffusion-model-based framework for training autonomous drones from first-person view (FPV) video. Our model generates realistic video sequences from a single frame, enriched with corresponding action spaces to…

Recently, the diffusion model has emerged as a powerful generative technique for robotic policy learning, capable of modeling multi-mode action distributions. Leveraging its capability for end-to-end autonomous driving is a promising…

Diffusion models, as a class of deep generative models, have recently emerged as powerful tools for robot skills by enabling stable training with reliable convergence. In this paper, we present an end-to-end framework for generating long,…

Imitation learning powered by generative models has proven effective for modeling complex single-agent behaviors. However, teaching multi-agent systems, like multiple arms or vehicles, to coordinate through imitation learning is hindered by…

In robotics, diffusion models can capture multi-modal trajectories from demonstrations, making them a transformative approach in imitation learning. However, achieving optimal performance following this regiment requires a large-scale…

Training general robotic policies from heterogeneous data for different tasks is a significant challenge. Existing robotic datasets vary in different modalities such as color, depth, tactile, and proprioceptive information, and collected in…

Learning a generalist embodied agent capable of completing multiple tasks poses challenges, primarily stemming from the scarcity of action-labeled robotic datasets. In contrast, a vast amount of human videos exist, capturing intricate tasks…

Diffusion policies are conditional diffusion models that learn robot action distributions conditioned on the robot and environment state. They have recently shown to outperform both deterministic and alternative action distribution learning…

In this paper, we explore provable acceleration of diffusion models without any additional retraining. Focusing on the task of approximating a target data distribution in $\mathbb{R}^d$ to within $\varepsilon$ total-variation distance, we…

Recently, diffusion policy has shown impressive results in handling multi-modal tasks in robotic manipulation. However, it has fundamental limitations in out-of-distribution failures that persist due to compounding errors and its limited…

This paper considers the problem of learning a control policy for robot motion planning with zero-shot generalization, i.e., no data collection and policy adaptation is needed when the learned policy is deployed in new environments. We…

We propose a general framework for optimizing noise schedules in diffusion models, applicable to both training and sampling. Our method enforces a constant rate of change in the probability distribution of diffused data throughout the…

Imitation learning provides an efficient way to teach robots dexterous skills; however, learning complex skills robustly and generalizablely usually consumes large amounts of human demonstrations. To tackle this challenging problem, we…

Federated Learning (FL) enables distributed optimization without compromising data sovereignty. Yet, where local label distributions are mutually exclusive, standard weight aggregation fails due to conflicting optimization trajectories.…