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

Diffusion models have been successfully applied in areas such as image, video, and audio generation. Recent works show their promise for sequential decision-making and dexterous manipulation, leveraging their ability to model complex action…

The language-conditioned robotic manipulation aims to transfer natural language instructions into executable actions, from simple pick-and-place to tasks requiring intent recognition and visual reasoning. Inspired by the dual process theory…

Imitation learning is an efficient method for teaching robots a variety of tasks. Diffusion Policy, which uses a conditional denoising diffusion process to generate actions, has demonstrated superior performance, particularly in learning…

While modern diffusion models excel at generating diverse single images, extending this to sequential generation reveals a fundamental challenge: balancing narrative dynamism with multi-character coherence. Existing methods often falter at…

We propose BRIC, a novel test-time adaptation (TTA) framework that enables long-term human motion generation by resolving execution discrepancies between diffusion-based kinematic motion planners and reinforcement learning-based physics…

We present Diffuse-CLoC, a guided diffusion framework for physics-based look-ahead control that enables intuitive, steerable, and physically realistic motion generation. While existing kinematics motion generation with diffusion models…

Recent advances in one-step text-to-image generation have enabled real-time synthesis with remarkable efficiency and quality. Previous reinforcement learning methods for one-step generators combine image-space reward optimization with…

This paper introduces Diffusion Policy, a new way of generating robot behavior by representing a robot's visuomotor policy as a conditional denoising diffusion process. We benchmark Diffusion Policy across 12 different tasks from 4…

Robot learning is witnessing a significant increase in the size, diversity, and complexity of pre-collected datasets, mirroring trends in domains such as natural language processing and computer vision. Many robot learning methods treat…

Human motion is inherently diverse and semantically rich, while also shaped by the surrounding scene. However, existing motion generation approaches fail to generate semantically diverse motion while simultaneously respecting geometric…

Humanoid robots are designed to perform diverse loco-manipulation tasks. However, they face challenges due to their high-dimensional and unstable dynamics, as well as the complex contact-rich nature of the tasks. Model-based optimal control…

Deep Reinforcement Learning (RL) has emerged as a promising method to develop humanoid robot locomotion controllers. Despite the robust and stable locomotion demonstrated by previous RL controllers, their behavior often lacks the natural…

Character animation aims to generate lifelike videos by transferring motion dynamics from a driving video to a reference image. Recent strides in generative models have paved the way for high-fidelity character animation. In this work, we…

The ability of neural networks to perform robotic perception and control tasks such as depth and optical flow estimation, simultaneous localization and mapping (SLAM), and automatic control has led to their widespread adoption in recent…

Real-world large language model deployments (e.g., conversational AI systems, code generation assistants) naturally generate abundant implicit user dissatisfaction (DSAT) signals, as users iterate toward better answers through refinements,…

Recent advances in robot learning have shown promise in enabling robots to perform a variety of manipulation tasks and generalize to novel scenarios. One of the key contributing factors to this progress is the scale of robot data used to…

In recent years, reinforcement learning and imitation learning have shown great potential for controlling humanoid robots' motion. However, these methods typically create simulation environments and rewards for specific tasks, resulting in…

We present a unified gait-conditioned reinforcement learning framework that enables humanoid robots to perform standing, walking, running, and smooth transitions within a single recurrent policy. A compact reward routing mechanism…

We propose DemoDiffusion, a simple method for enabling robots to perform manipulation tasks by imitating a single human demonstration, without requiring task-specific training or paired human-robot data. Our approach is based on two…

Bimanual robot learning from demonstrations is fundamentally limited by the cost and narrow visual diversity of real-world data, which constrains policy robustness across viewpoints, object configurations, and embodiments. We present…