arXiv Machine Learning
Ergodic Control and Controlled Diffusion for Robot Learning: Review and Tutorial
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From Noise to Control: Parameterized Diffusion Policies
arXiv:2606. 00336v1 Announce Type: new Abstract: We propose Parameterized Diffusion Policy (PDP), a framework for learning diffusion policies conditioned on low-dimensional, continuous parameters embedded in a learned behavior manifold.
arXiv AI
Jun 16
Sample from What You See: Visuomotor Policy Learning via Diffusion Bridge with Observation-Embedded Stochastic Differential Equation
arXiv:2512. 07212v3 Announce Type: replace Abstract: Imitation learning with diffusion models has advanced robotic control by capturing the multi-modal action distributions.
arXiv Machine Learning
Jul 23
Diffusion ReRoll: Revisable Denoising for Robotic Sequential Prediction
arXiv:2607. 19919v1 Announce Type: cross Abstract: We propose Diffusion ReRoll, a diffusion-based framework for robotic sequential prediction that enables revisable denoising over horizons.
arXiv AI
Jun 16
Training and Evaluating Diffusion Policies with Long Context Lengths
arXiv:2606. 16447v1 Announce Type: cross Abstract: Imitation learning has enabled highly-dexterous robotic manipulation from RGB observations.
arXiv AI
Jun 29
RS-Diffuser: Risk-Sensitive Diffusion Planning with Distributional Value Guidance
arXiv:2606. 27766v1 Announce Type: cross Abstract: Offline reinforcement learning enables policy learning from fixed datasets without additional environment interaction, making it appealing for safety-critical applications where online exploration is costly or unsafe.
arXiv AI
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VOiLA: Vectorized Online Planning with Learned Diffusion Model for POMDP Agents
arXiv:2606. 19729v1 Announce Type: cross Abstract: Planning under uncertainty is an essential capability for autonomous robots.