5 papers
CompVLA: A Variable Compliance Vision-Language-Action Model for Contact-rich Manipulation
Jongmin Kim, Junsu Ha, Che-Sang Park +5
Contact-rich manipulation, requiring robots to regulate not only motion but also how they yield to external forces, has emerged as the next frontier for Vision-Language-Action (VLA…
MATE: Solving Contextual Markov Decision Processes with Memory of Accumulated Transition Embeddings
Himchan Hwang, Hyeokju Jeong, Gene Chung +3
We propose MATE, a simple yet effective memory architecture for solving Contextual Markov Decision Processes (CMDPs), a family of MDPs parameterized by an unobserved context. In CM…
Value Gradient Sampler: Learning Invariant Value Functions for Equivariant Diffusion Sampling
Himchan Hwang, Hyeokju Jeong, Dong Kyu Shin +4
We propose the Value Gradient Sampler (VGS), a diffusion sampler parameterized by value functions. VGS generates samples from an unnormalized target density (i.e., energy) by evolv…
Maximum Entropy Inverse Reinforcement Learning of Diffusion Models with Energy-Based Models
Sangwoong Yoon, Himchan Hwang, Dohyun Kwon +2
We present a maximum entropy inverse reinforcement learning (IRL) approach for improving the sample quality of diffusion generative models, especially when the number of generation…
Generalized Contrastive Divergence: Joint Training of Energy-Based Model and Diffusion Model through Inverse Reinforcement Learning
Sangwoong Yoon, Dohyun Kwon, Himchan Hwang +2
We present Generalized Contrastive Divergence (GCD), a novel objective function for training an energy-based model (EBM) and a sampler simultaneously. GCD generalizes Contrastive D…