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

Evaluating autonomous vehicles with controllability enables scalable testing in counterfactual or structured settings, enhancing both efficiency and safety. We introduce LangTraj, a language-conditioned scene-diffusion model that simulates…

Controllable human image generation (HIG) has numerous real-life applications. State-of-the-art solutions, such as ControlNet and T2I-Adapter, introduce an additional learnable branch on top of the frozen pre-trained stable diffusion (SD)…

Embodied AI agents require a fine-grained understanding of the physical world mediated through visual and language inputs. Such capabilities are difficult to learn solely from task-specific data. This has led to the emergence of pre-trained…

Humanoid robots, with their human-like morphology, hold great potential for industrial applications. However, existing loco-manipulation methods primarily focus on dexterous manipulation, falling short of the combined requirements for…

Achieving controllable character animation that meets studio-grade standards remains challenging despite recent progress. Existing approaches can transfer motion from a driving video to a reference image, but often fail to preserve…

Hierarchical reinforcement learning (RL) can accelerate long-horizon decision-making by temporally abstracting a policy into multiple levels. Promising results in sparse reward environments have been seen with skills, i.e. sequences of…

Most reinforcement learning (RL) methods focus on learning optimal policies over low-level action spaces. While these methods can perform well in their training environments, they lack the flexibility to transfer to new tasks. Instead, RL…

Diffusion-based trajectory planners have demonstrated strong capability for modeling the multimodal nature of human driving behavior, but their reliance on iterative stochastic sampling poses critical challenges for real-time,…

In this work, we introduce Reinforcement Pre-Training (RPT) as a new scaling paradigm for large language models and reinforcement learning (RL). Specifically, we reframe next-token prediction as a reasoning task trained using RL, where it…

As intelligent robots become more integrated into human environments, there is a growing need for intuitive and reliable Human-Robot Interaction (HRI) interfaces that are adaptable and more natural to interact with. Traditional robot…

Image-conditioned Video diffusion models achieve impressive visual realism but often suffer from weakened motion fidelity, e.g., reduced motion dynamics or degraded long-term temporal coherence, especially after fine-tuning. We study the…

Recent work has shown that inference-time reasoning and reflection can improve text-to-image generation without retraining. However, existing approaches often rely on implicit, holistic critiques or unconstrained prompt rewrites, making…

Large language models exhibit strong reasoning capabilities, yet often rely on shortcuts such as surface pattern matching and answer memorization rather than genuine logical inference. We propose Shortcut-Aware Reasoning Training (SART), a…

Text-driven human motion generation is a multimodal task that synthesizes human motion sequences conditioned on natural language. It requires the model to satisfy textual descriptions under varying conditional inputs, while generating…

While recent vision-language-action models trained on diverse robot datasets exhibit promising generalization capabilities with limited in-domain data, their reliance on compact action heads to predict discretized or continuous actions…

Effective exoskeleton assistance requires co-adaptation: as the device alters joint dynamics, the user reorganizes neuromuscular coordination, creating a non-stationary learning problem. Most learning-based approaches do not explicitly…

The Stable Diffusion model is a prominent text-to-image generation model that relies on a text prompt as its input, which is encoded using the Contrastive Language-Image Pre-Training (CLIP). However, text prompts have limitations when it…

We are motivated by the real challenges presented in a human-robot system to develop new designs that are efficient at data level and with performance guarantees such as stability and optimality at systems level. Existing…

In this work, we present a domain-independent approach for adaptive scaffolding in robotic explanation generation to guide tasks in human-robot interaction. We present a method for incorporating interdisciplinary research results into a…

Reinforcement learning approaches have long appealed to the data management community due to their ability to learn to control dynamic behavior from raw system performance. Recent successes in combining deep neural networks with…