6 papers
Improving Robotic Manipulation Robustness via NICE Scene Surgery
Sajjad Pakdamansavoji, Mozhgan Pourkeshavarz, Adam Sigal +3
Learning robust visuomotor policies for robotic manipulation remains a challenge in real-world settings, where visual distractors can significantly degrade performance and safety.…
CAPE: Context-Aware Diffusion Policy Via Proximal Mode Expansion for Collision Avoidance
Rui Heng Yang, Xuan Zhao, Leo Maxime Brunswic +5
In robotics, diffusion models can capture multi-modal trajectories from demonstrations, making them a transformative approach in imitation learning. However, achieving optimal perf…
Two-Steps Diffusion Policy for Robotic Manipulation via Genetic Denoising
Mateo Clemente, Leo Brunswic, Rui Heng Yang +5
Diffusion models, such as diffusion policy, have achieved state-of-the-art results in robotic manipulation by imitating expert demonstrations. While diffusion models were originall…
Ergodic Generative Flows
Leo Maxime Brunswic, Mateo Clemente, Rui Heng Yang +3
Generative Flow Networks (GFNs) were initially introduced on directed acyclic graphs to sample from an unnormalized distribution density. Recent works have extended the theoretical…
RA-DP: Rapid Adaptive Diffusion Policy for Training-Free High-frequency Robotics Replanning
Xi Ye, Rui Heng Yang, Jun Jin +2
Diffusion models exhibit impressive scalability in robotic task learning, yet they struggle to adapt to novel, highly dynamic environments. This limitation primarily stems from the…
HIPPo: Harnessing Image-to-3D Priors for Model-free Zero-shot 6D Pose Estimation
Yibo Liu, Zhaodong Jiang, Binbin Xu +7
This work focuses on model-free zero-shot 6D object pose estimation for robotics applications. While existing methods can estimate the precise 6D pose of objects, they heavily rely…