5 papers
Sample from What You See: Visuomotor Policy Learning via Diffusion Bridge with Observation-Embedded Stochastic Differential Equation
Zhaoyang Liu, Mokai Pan, Zhongyi Wang +5
Imitation learning with diffusion models has advanced robotic control by capturing the multi-modal action distributions. However, existing methods typically treat observations only…
Diffusion Bridge or Flow Matching? A Unifying Framework and Comparative Analysis
Kaizhen Zhu, Mokai Pan, Zhechuan Yu +3
Diffusion Bridge and Flow Matching have both demonstrated compelling empirical performance in transformation between arbitrary distributions. However, there remains confusion about…
A Unified and Fast-Sampling Diffusion Bridge Framework via Stochastic Optimal Control
Mokai Pan, Kaizhen Zhu, Yuexin Ma +4
Recent advances in diffusion bridge models leverage Doob's -transform to establish fixed endpoints between distributions, demonstrating promising results in image translation an…
UniDB: A Unified Diffusion Bridge Framework via Stochastic Optimal Control
Kaizhen Zhu, Mokai Pan, Yuexin Ma +4
Recent advances in diffusion bridge models leverage Doob's -transform to establish fixed endpoints between distributions, demonstrating promising results in image translation an…
AffordDP: Generalizable Diffusion Policy with Transferable Affordance
Shijie Wu, Yihang Zhu, Yunao Huang +5
Diffusion-based policies have shown impressive performance in robotic manipulation tasks while struggling with out-of-domain distributions. Recent efforts attempted to enhance gene…