相关论文: Factored Diffusion Policies:Compositionally Genera…

The robotic assembly task poses a key challenge in building generalist robots due to the intrinsic complexity of part interactions and the sensitivity to noise perturbations in contact-rich settings. The assembly agent is typically designed…

End-to-end autonomous driving remains constrained by the difficulty of producing adaptive, robust, and interpretable decision-making across diverse scenarios. Existing methods often collapse diverse driving behaviors, lack long-horizon…

This paper presents a distributed model predictive control (DMPC) algorithm for a heterogeneous platoon using arbitrary communication topologies, provided each vehicle can communicate with a preceding vehicle in the platoon. The proposed…

Decentralized multi-robot motion planning requires each robot to generate collision-free trajectories from local observations, without global sensing or reliable communication. However, most existing planners, whether classical or…

Distributed control algorithms are known to reduce overall computation time compared to centralized control algorithms. However, they can result in inconsistent solutions leading to the violation of safety-critical constraints. Inconsistent…

Practical deployments of coordinated fleets of mobile robots in different environments have revealed the benefits of maintaining small distances between robots, especially as they move at higher speeds. However, this is counter-intuitive in…

Scarce data is a major challenge to scaling robot learning to truly complex tasks, as we need to generalize locally learned policies over different task contexts. Contextual policy search offers data-efficient learning and generalization by…

In lifelong multi-agent path finding (MAPF) with many robots, unreliable wireless links and stochastic executions are the norm. Existing approaches typically either rely on centralized planning under idealized communication, or run fully…

In many complex scenarios, robotic manipulation relies on generative models to estimate the distribution of multiple successful actions. As the diffusion model has better training robustness than other generative models, it performs well in…

Score-based generative models, which transform noise into data by learning to reverse a diffusion process, have become a cornerstone of modern generative AI. This paper contributes to establishing theoretical guarantees for the probability…

Diffusion Policy is a powerful technique tool for learning end-to-end visuomotor robot control. It is expected that Diffusion Policy possesses scalability, a key attribute for deep neural networks, typically suggesting that increasing model…

Trajectory prediction facilitates effective planning and decision-making, while constrained trajectory prediction integrates regulation into prediction. Recent advances in constrained trajectory prediction focus on structured constraints by…

One important property of DIstribution Correction Estimation (DICE) methods is that the solution is the optimal stationary distribution ratio between the optimized and data collection policy. In this work, we show that DICE-based methods…

We study the voter model and related random-copying processes on arbitrarily complex network structures. Through a representation of the dynamics as a particle reaction process, we show that a quantity measuring the degree of order in a…

Controllable diffusion generation often relies on various heuristics that are seemingly disconnected without a unified understanding. We bridge this gap with Diffusion Controller (DiffCon), a unified control-theoretic view that casts…

Generative flow and diffusion models provide the continuous, multimodal action distributions needed for high-precision robotic policies. However, their reliance on iterative sampling introduces severe inference latency, degrading control…

We propose a novel conditional diffusion model for contextual portfolio optimization that learns the cross-sectional distribution of next-day stock returns conditioned on high-dimensional asset-specific factors. Our model leverages a…

Robots can acquire complex manipulation skills by learning policies from expert demonstrations, which is often known as vision-based imitation learning. Generating policies based on diffusion and flow matching models has been shown to be…

Traditionally, systems governed by linear Partial Differential Equations (PDEs) are spatially discretized to exploit their algebraic structure and reduce the computational effort for controlling them. Due to beneficial insights of the PDEs,…

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…