相关论文: TapSampling: Inference-Time Sampling with a Task-P…

Model-based deep reinforcement learning has achieved success in various domains that require high sample efficiencies, such as Go and robotics. However, there are some remaining issues, such as planning efficient explorations to learn more…

Handheld paradigms offer an efficient and intuitive way for collecting large-scale demonstration of robot manipulation. However, achieving contact-rich bimanual manipulation through these methods remains a pivotal challenge, which is…

Generative policies based on diffusion and flow matching have become a dominant paradigm for visuomotor robotic control. We show that replacing the standard Gaussian source distribution with WarmPrior, a simple temporally grounded prior…

Policy search reinforcement learning has been drawing much attention as a method of learning a robot control policy. In particular, policy search using such non-parametric policies as Gaussian process regression can learn optimal actions…

We propose a novel probabilistic generative model for action sequences. The model is termed the Action Point Process VAE (APP-VAE), a variational auto-encoder that can capture the distribution over the times and categories of action…

Recent progress in robotic manipulation has dealt with the case of previously unknown objects in the context of relatively simple tasks, such as bin-picking. Existing methods for more constrained problems, however, such as deliberate…

Common approaches to providing feedback in reinforcement learning are the use of hand-crafted rewards or full-trajectory expert demonstrations. Alternatively, one can use examples of completed tasks, but such an approach can be extremely…

Spatio-temporal sequence forecasting is one of the fundamental tasks in spatio-temporal data mining. It facilitates many real world applications such as precipitation nowcasting, citywide crowd flow prediction and air pollution forecasting.…

To act and plan in complex environments, we posit that agents should have a mental simulator of the world with three characteristics: (a) it should build an abstract state representing the condition of the world; (b) it should form a belief…

Diffusion models achieve strong generative performance but remain slow at inference due to the need for repeated full-model denoising passes. We present Token-Adaptive Predictor (TAP), a training-free, probe-driven framework that adaptively…

Self-supervised learning can significantly improve the performance of downstream tasks, however, the dimensions of learned representations normally lack explicit physical meanings. In this work, we propose a novel self-supervised approach…

In real-world sequential decision making tasks like autonomous driving, robotics, and healthcare, learning from observed state-action trajectories is critical for tasks like imitation, classification, and clustering. For example,…

We present Generative Predictive Control (GPC), an inference-time method for improving pretrained behavior-cloning policies without retraining. GPC augments a frozen diffusion policy at deployment with an action-conditioned world model…

Existing Temporal Action Detection (TAD) methods typically take a pre-processing step in converting an input varying-length video into a fixed-length snippet representation sequence, before temporal boundary estimation and action…

We present a novel unified framework that concurrently tackles recognition and future prediction for human hand pose and action modeling. Previous works generally provide isolated solutions for either recognition or prediction, which not…

Robotic manipulation in unstructured environments requires reliable execution under diverse conditions, yet many state-of-the-art systems still struggle with high-dimensional action spaces, sparse rewards, and slow generalization beyond…

Reinforcement Learning methods are capable of solving complex problems, but resulting policies might perform poorly in environments that are even slightly different. In robotics especially, training and deployment conditions often vary and…

In this paper, we introduce ControlVAE, a novel model-based framework for learning generative motion control policies based on variational autoencoders (VAE). Our framework can learn a rich and flexible latent representation of skills and a…

Pick-and-place is an important manipulation task in domestic or manufacturing applications. There exist many works focusing on grasp detection with high picking success rate but lacking consideration of downstream manipulation tasks (e.g.,…

A task decomposition method for iterative learning model predictive control is presented. We consider a constrained nonlinear dynamical system and assume the availability of state-input pair datasets which solve a task T1. Our objective is…