相关论文: SCRIPT: Scalable Diffusion Policy with Multi-stage…

Diffusion policies trained via offline behavioral cloning have recently gained traction in robotic motion generation. While effective, these policies typically require a large number of trainable parameters. This model size affords powerful…

In this work, we present FRIGID, a framework with a novel diffusion language model that generates molecular structures conditioned on mass spectra via intermediate fingerprint representations and determined chemical formulae, training at…

Prompt-based continual learning (CL) provides a parameter-efficient approach for adapting large language models (LLMs) across task sequences. However, most existing methods rely on task-aware inference and maintain a growing set of…

We address dynamic manipulation of deformable linear objects by presenting SPiD, a physics-informed self-supervised learning framework that couples an accurate deformable object model with an augmented self-supervised training strategy. On…

Skin-friction drag induced by wall-bounded turbulent flows accounts for a substantial fraction of energy consumption across commercial aerospace, wind energy, and marine transport. Its active reduction is one of the highest-value targets in…

Humanoid robots can suffer significant performance drops under small changes in dynamics, task specifications, or environment setup. We propose HoRD, a two-stage learning framework for robust humanoid control under domain shift. First, we…

Humanoid robots are well suited for human habitats due to their morphological similarity, but developing controllers for them is a challenging task that involves multiple sub-problems, such as control, planning and perception. In this…

Learning from unstructured and uncurated data has become the dominant paradigm for generative approaches in language and vision. Such unstructured and unguided behavior data, commonly known as play, is also easier to collect in robotics but…

Human videos are a scalable source of training data for robot learning. However, humans and robots significantly differ in embodiment, making many human actions infeasible for direct execution on a robot. Still, these demonstrations convey…

Cooperative driving is a safety- and efficiency-critical task that requires the coordination of diverse, interaction-realistic multi-agent trajectories. Although existing diffusion-based methods can capture multimodal behaviors from…

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…

Model-free reinforcement learning has emerged as a powerful method for developing robust robot control policies capable of navigating through complex and unstructured environments. The effectiveness of these methods hinges on two essential…

Achieving both realism and controllability in closed-loop traffic simulation remains a key challenge in autonomous driving. Dataset-based methods reproduce realistic trajectories but suffer from covariate shift in closed-loop deployment,…

Recent advances in humanoid whole-body motion tracking have enabled the execution of diverse and highly coordinated motions on real hardware. However, existing controllers are commonly driven either by predefined motion trajectories, which…

Current robots struggle with long-horizon manipulation tasks requiring sequences of prehensile and non-prehensile skills, contact-rich interactions, and long-term reasoning. We present $\texttt{SPIN}$ ($\textbf{S}$kill $\textbf{P}$lanning…

Language models can be used to provide interactive, personalized student feedback in educational settings. However, real-world deployment faces three key challenges: privacy concerns, limited computational resources, and the need for…

Large Language Models (LLMs) face a fundamental safety-helpfulness trade-off due to static, one-size-fits-all safety policies that lack runtime controllabilityxf, making it difficult to tailor responses to diverse application needs. %As a…

Currently, under supervised learning, a model pretrained by a large-scale nature scene dataset and then fine-tuned on a few specific task labeling data is the paradigm that has dominated the knowledge transfer learning. It has reached the…

Physically-simulated models for human motion can generate high-quality responsive character animations, often in real-time. Natural language serves as a flexible interface for controlling these models, allowing expert and non-expert users…

We propose a two-stage framework for motion in-betweening that combines diffusion-based motion generation with physics-based character adaptation. In Stage 1, a character-agnostic diffusion model synthesizes transitions from sparse…