相关论文: Frequency-Guided Action Diffusion via Sub-Frequenc…

In this paper, we build upon two major recent developments in the field, Diffusion Policies for visuomotor manipulation and large pre-trained multimodal foundational models to obtain a robotic skill learning system. The system can obtain…

The rapid expansion of edge devices and Internet-of-Things (IoT) continues to heighten the demand for data transport under limited spectrum resources. The goal-oriented communications (GO-COM), unlike traditional communication systems…

Classifier-Free Guidance (CFG) is a widely used mechanism for controlling diffusion-based generative models, yet its guidance scale is typically treated as a fixed hyperparameter throughout generation. This static design yields a suboptimal…

Learning from expert demonstrations is a promising approach for training robotic manipulation policies from limited data. However, imitation learning algorithms require a number of design choices ranging from the input modality, training…

Recent work has shown diffusion models are an effective approach to learning the multimodal distributions arising from demonstration data in behavior cloning. However, a drawback of this approach is the need to learn a denoising function,…

Mobile robot navigation in dynamic environments with pedestrian traffic is a key challenge in the development of autonomous mobile service robots. Recently, deep reinforcement learning-based methods have been actively studied and have…

Trajectory generation for mobile robots in unstructured environments faces a critical dilemma: balancing kinematic smoothness for safe execution with terminal precision for fine-grained tasks. Existing generative planners often struggle…

Modeling high-frequency information is a critical challenge in scientific machine learning. For instance, fully turbulent flow simulations of the Navier-Stokes equations at Reynolds numbers 3500 and above can generate high-frequency signals…

Guidance serves as a key concept in diffusion models, yet its effectiveness is often limited by the need for extra data annotation or classifier pretraining. That is why guidance was harnessed from self-supervised learning backbones, like…

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…

Video generation using diffusion-based models is constrained by high computational costs due to the frame-wise iterative diffusion process. This work presents a Diffusion Reuse MOtion (Dr. Mo) network to accelerate latent video generation.…

Recent advances in diffusion-based generative models have shown incredible promise for zero shot image-to-image translation and editing. Most of these approaches work by combining or replacing network-specific features used in the…

Recently, the diffusion model has emerged as a powerful generative technique for robotic policy learning, capable of modeling multi-mode action distributions. Leveraging its capability for end-to-end autonomous driving is a promising…

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…

Given a dataset of expert trajectories, standard imitation learning approaches typically learn a direct mapping from observations (e.g., RGB images) to actions. However, such methods often overlook the rich interplay between different…

This paper presents Diffusion Forcing, a new training paradigm where a diffusion model is trained to denoise a set of tokens with independent per-token noise levels. We apply Diffusion Forcing to sequence generative modeling by training a…

We propose a theoretical framework for studying behavior cloning of complex expert demonstrations using generative modeling. Our framework invokes low-level controllers - either learned or implicit in position-command control - to stabilize…

Humanoid loco-manipulation requires coordinated high-level motion plans with stable, low-level whole-body execution under complex robot-environment dynamics and long-horizon tasks. While diffusion policies (DPs) show promise for learning…

Diffusion models have become popular for policy learning in robotics due to their ability to capture high-dimensional and multimodal distributions. However, diffusion policies are stochastic and typically trained offline, limiting their…

Generating the motion of orchestral conductors from a given piece of symphony music is a challenging task since it requires a model to learn semantic music features and capture the underlying distribution of real conducting motion. Prior…