Loading video...

Video Failed to Load

There was a problem loading this video. This could be due to a temporary network issue or the video might be unavailable.

Hierarchical diffusion policy is another step along the journey of making hierarchical next-best pose agents more capable, through introduction of a kinematically-aware low-level diffusion planner.🤖 New work from the Dyson Robot Learning Lab. CVPR 2024

Stephen James

7,349 subscribers

33,928 views • 2 years ago •via X (Twitter)

Science & Technology Education

Anya Rossi• Live Now

Private livecam show

0 Comments

No comments available

Comments from the original post will appear here

Related Videos

DreamCraft3D: Hierarchical 3D Generation with Bootstrapped Diffusion Prior paper page: present DreamCraft3D, a hierarchical 3D content generation method that produces high-fidelity and coherent 3D objects. We tackle the problem by leveraging a 2D reference image to guide the stages of geometry sculpting and texture boosting. A central focus of this work is to address the consistency issue that existing works encounter. To sculpt geometries that render coherently, we perform score distillation sampling via a view-dependent diffusion model. This 3D prior, alongside several training strategies, prioritizes the geometry consistency but compromises the texture fidelity. We further propose Bootstrapped Score Distillation to specifically boost the texture. We train a personalized diffusion model, Dreambooth, on the augmented renderings of the scene, imbuing it with 3D knowledge of the scene being optimized. The score distillation from this 3D-aware diffusion prior provides view-consistent guidance for the scene. Notably, through an alternating optimization of the diffusion prior and 3D scene representation, we achieve mutually reinforcing improvements: the optimized 3D scene aids in training the scene-specific diffusion model, which offers increasingly view-consistent guidance for 3D optimization. The optimization is thus bootstrapped and leads to substantial texture boosting. With tailored 3D priors throughout the hierarchical generation, DreamCraft3D generates coherent 3D objects with photorealistic renderings, advancing the state-of-the-art in 3D content generation.

DreamCraft3D: Hierarchical 3D Generation with Bootstrapped Diffusion Prior paper page: present DreamCraft3D, a hierarchical 3D content generation method that produces high-fidelity and coherent 3D objects. We tackle the problem by leveraging a 2D reference image to guide the stages of geometry sculpting and texture boosting. A central focus of this work is to address the consistency issue that existing works encounter. To sculpt geometries that render coherently, we perform score distillation sampling via a view-dependent diffusion model. This 3D prior, alongside several training strategies, prioritizes the geometry consistency but compromises the texture fidelity. We further propose Bootstrapped Score Distillation to specifically boost the texture. We train a personalized diffusion model, Dreambooth, on the augmented renderings of the scene, imbuing it with 3D knowledge of the scene being optimized. The score distillation from this 3D-aware diffusion prior provides view-consistent guidance for the scene. Notably, through an alternating optimization of the diffusion prior and 3D scene representation, we achieve mutually reinforcing improvements: the optimized 3D scene aids in training the scene-specific diffusion model, which offers increasingly view-consistent guidance for 3D optimization. The optimization is thus bootstrapped and leads to substantial texture boosting. With tailored 3D priors throughout the hierarchical generation, DreamCraft3D generates coherent 3D objects with photorealistic renderings, advancing the state-of-the-art in 3D content generation.

AK

161,530 views • 2 years ago

Ready to take your career to the next level? McKinsey Forward is a free online learning journey designed to help you thrive in a modern business environment. 93% of our graduates feel more confident in their skills after going through the program. Take a step. Forward.

Ready to take your career to the next level? McKinsey Forward is a free online learning journey designed to help you thrive in a modern business environment. 93% of our graduates feel more confident in their skills after going through the program. Take a step. Forward.

McKinsey & Company

4,936,893 views • 2 years ago

So you’ve trained your favorite diffusion/flow based policy, but it’s just not good enough 0-shot. Worry not, in our new work DSRL - we show how to *steer* pre-trained diffusion policies with off-policy RL, improving behavior efficiently enough for direct training in the real world! DSRL retains nice exploration from the base policy, but allows for quick improvement beyond this base policy with RL. The method is frustratingly simple, and super easy to throw on top of your favorite pretrained policy (VLA/diffusion policy, etc). Let’s think about how it works, 🧵 (1/10)

So you’ve trained your favorite diffusion/flow based policy, but it’s just not good enough 0-shot. Worry not, in our new work DSRL - we show how to steer pre-trained diffusion policies with off-policy RL, improving behavior efficiently enough for direct training in the real world! DSRL retains nice exploration from the base policy, but allows for quick improvement beyond this base policy with RL. The method is frustratingly simple, and super easy to throw on top of your favorite pretrained policy (VLA/diffusion policy, etc). Let’s think about how it works, 🧵 (1/10)

Abhishek Gupta

19,084 views • 1 year ago

Can AI agents adapt zero-shot, to complex multi-step language instructions in open-ended environments? We present MaestroMotif, a method for AI-assisted skill design that produces highly capable and steerable hierarchical agents. To the best of our knowledge, it is the first method that, without expert labeled datasets, solves compositional tasks requiring hundreds of steps for completion. All the modules within MaestroMotif are learned from interaction: from the highest level of planning to the lowest-level of sensorimotor control. On the open-ended domain of NetHack, it surpasses existing approaches, including those that are fine-tuned specifically for each task. At the heart of MaestroMotif is the idea that decomposing a task into subtasks significantly helps decision making. MaestroMotif leverages an agent designer's intuition about a domain to identify important skills and describe them in natural language. These short descriptions then get converted into adaptable hierarchical agents through AI feedback and in-context learning. Our paper was recently published at ICLR 2025 and we open-source the whole project including the code, prompts and pre-trained models. Paper: Code: NotebookLM Podcast: This work was done with the amazing Mikael Henaff, Roberta Raileanu, Shagun Sodhani, Pascal Vincent, Amy Zhang, Pierre-Luc Bacon, Doina Precup, with equal supervision by Marlos C. Machado and Pierluca D'Oro. Take a look at the following thread:

Can AI agents adapt zero-shot, to complex multi-step language instructions in open-ended environments? We present MaestroMotif, a method for AI-assisted skill design that produces highly capable and steerable hierarchical agents. To the best of our knowledge, it is the first method that, without expert labeled datasets, solves compositional tasks requiring hundreds of steps for completion. All the modules within MaestroMotif are learned from interaction: from the highest level of planning to the lowest-level of sensorimotor control. On the open-ended domain of NetHack, it surpasses existing approaches, including those that are fine-tuned specifically for each task. At the heart of MaestroMotif is the idea that decomposing a task into subtasks significantly helps decision making. MaestroMotif leverages an agent designer's intuition about a domain to identify important skills and describe them in natural language. These short descriptions then get converted into adaptable hierarchical agents through AI feedback and in-context learning. Our paper was recently published at ICLR 2025 and we open-source the whole project including the code, prompts and pre-trained models. Paper: Code: NotebookLM Podcast: This work was done with the amazing Mikael Henaff, Roberta Raileanu, Shagun Sodhani, Pascal Vincent, Amy Zhang, Pierre-Luc Bacon, Doina Precup, with equal supervision by Marlos C. Machado and Pierluca D'Oro. Take a look at the following thread:

Martin Klissarov

80,217 views • 1 year ago

🎬This is from a static MJ 7 image + HeyGen 4! The voice over is human performance, but the nuances the diffusion model picks up is pretty next level for the character. I masked in a video of the cars moving from Kling. Pretty impressive.

🎬This is from a static MJ 7 image + HeyGen 4! The voice over is human performance, but the nuances the diffusion model picks up is pretty next level for the character. I masked in a video of the cars moving from Kling. Pretty impressive.

Dave Clark

11,224 views • 1 year ago

We’re excited to share DiT4DiT, an end-to-end Video-Action Model for robot learning that unifies a video Diffusion Transformer and an action Diffusion Transformer in a single cascaded framework. By leveraging the rich spatiotemporal and physical dynamics learned through video generation, rather than static image-text priors, DiT4DiT achieves state-of-the-art results on LIBERO (98.6%) and RoboCasa GR1 (50.8%) with far less training data, delivering over 10× better sample efficiency and up to 7× faster convergence. Real-world deployment on a humanoid robot further shows robust generalization. We believe this is a step toward making video generation a powerful backbone for robot policy learning. This work builds upon the brilliant foundations laid by Nvidia's GR00T and Cosmos. Project: Paper: Code: Coming soon. In the meantime, you can ask your coding agent to reproduce the method based on GR00T/Cosmos.

We’re excited to share DiT4DiT, an end-to-end Video-Action Model for robot learning that unifies a video Diffusion Transformer and an action Diffusion Transformer in a single cascaded framework. By leveraging the rich spatiotemporal and physical dynamics learned through video generation, rather than static image-text priors, DiT4DiT achieves state-of-the-art results on LIBERO (98.6%) and RoboCasa GR1 (50.8%) with far less training data, delivering over 10× better sample efficiency and up to 7× faster convergence. Real-world deployment on a humanoid robot further shows robust generalization. We believe this is a step toward making video generation a powerful backbone for robot policy learning. This work builds upon the brilliant foundations laid by Nvidia's GR00T and Cosmos. Project: Paper: Code: Coming soon. In the meantime, you can ask your coding agent to reproduce the method based on GR00T/Cosmos.

Shuo Yang

31,596 views • 4 months ago

.Aaron Levie says AI agents may take years to diffuse from engineering into the rest of knowledge work. "The models are really good at code, and the work is verifiable." "You have 5 or 10 things that make agents work in an enterprise context for engineering." "The users are less technical, the data is much more fragmented, the systems are much more legacy." "That's why it's going to be a number of years for this diffusion to roll from what we're seeing in Silicon Valley, into the rest of knowledge work."

.Aaron Levie says AI agents may take years to diffuse from engineering into the rest of knowledge work. "The models are really good at code, and the work is verifiable." "You have 5 or 10 things that make agents work in an enterprise context for engineering." "The users are less technical, the data is much more fragmented, the systems are much more legacy." "That's why it's going to be a number of years for this diffusion to roll from what we're seeing in Silicon Valley, into the rest of knowledge work."

MTS

13,046 views • 2 months ago

The introduction of AI Visual Inspections expanded what Spot and Orbit could tell you about your facility - now, AIVI-Learning powered by Google DeepMind Gemini Robotics unlocks a whole new level of visual intelligence for your robot. Learn more:

The introduction of AI Visual Inspections expanded what Spot and Orbit could tell you about your facility - now, AIVI-Learning powered by Google DeepMind Gemini Robotics unlocks a whole new level of visual intelligence for your robot. Learn more:

Boston Dynamics

25,155 views • 3 months ago

Weekends are for research. Inside OptimAI labs, we’ve been pushing agents beyond the screen. A first glimpse of OptimAI Prime. Not just agents that think, but agents that operate. Learning through reinforcement, coordinating across the network, and executing in real-world environments. From digital workflows → to physical actions. This is the next step for the agent-native internet.🤖 Still early. But already in motion.

Weekends are for research. Inside OptimAI labs, we’ve been pushing agents beyond the screen. A first glimpse of OptimAI Prime. Not just agents that think, but agents that operate. Learning through reinforcement, coordinating across the network, and executing in real-world environments. From digital workflows → to physical actions. This is the next step for the agent-native internet.🤖 Still early. But already in motion.

OptimAI Network

20,629 views • 2 months ago

The next frontier after language models is world models, and learning to predict the next state of a world. Hear from our researchers how these models really work at a low-level and the mountain we're climbing. A general-purpose world simulator (AKA sci-fi) is now in sight.

The next frontier after language models is world models, and learning to predict the next state of a world. Hear from our researchers how these models really work at a low-level and the mountain we're climbing. A general-purpose world simulator (AKA sci-fi) is now in sight.

Odyssey

25,871 views • 7 months ago

Ready to take your career to the next level? McKinsey Forward is a free online learning journey designed to help you thrive in a modern business environment. 93% of our graduates feel more confident in their skills after going through the program. Will you be next?

Ready to take your career to the next level? McKinsey Forward is a free online learning journey designed to help you thrive in a modern business environment. 93% of our graduates feel more confident in their skills after going through the program. Will you be next?

McKinsey & Company

38,182,174 views • 2 years ago

Freemasons are seeking an emergency injunction from the High Court to block a new Metropolitan Police policy that would require them to disclose their membership in the organization. They have filed legal papers in London, arguing the policy amounts to “religious discrimination” against Freemasons. Police officials say anyone who is, or has been, part of a hierarchical organization that requires members to support and protect one another must declare it.

Freemasons are seeking an emergency injunction from the High Court to block a new Metropolitan Police policy that would require them to disclose their membership in the organization. They have filed legal papers in London, arguing the policy amounts to “religious discrimination” against Freemasons. Police officials say anyone who is, or has been, part of a hierarchical organization that requires members to support and protect one another must declare it.

Shadow of Ezra

2,719,625 views • 6 months ago

Over the last few months, we’ve been thinking about how to learn from “off-domain” data - data from non-robot sources like video or simulation. These data sources are not quite good enough to learn policies (even monolithic VLA models) directly, but they still contain lots of information that can be useful for generalizable robot control. How can we develop robot learning models that are able to make use of this type of data for generalizable control? In new work, that we call HAMSTER, we show that VLMs can be useful for enabling robotic learning from off-domain data, but specifically when used through hierarchical VLA architectures. We show that this class of models can learn generalizable robot policies for the real world from large-scale, off-domain data. A 🧵 (1/10)

Over the last few months, we’ve been thinking about how to learn from “off-domain” data - data from non-robot sources like video or simulation. These data sources are not quite good enough to learn policies (even monolithic VLA models) directly, but they still contain lots of information that can be useful for generalizable robot control. How can we develop robot learning models that are able to make use of this type of data for generalizable control? In new work, that we call HAMSTER, we show that VLMs can be useful for enabling robotic learning from off-domain data, but specifically when used through hierarchical VLA architectures. We show that this class of models can learn generalizable robot policies for the real world from large-scale, off-domain data. A 🧵 (1/10)

Abhishek Gupta

11,994 views • 1 year ago

LLM-grounded Diffusion: Enhancing Prompt Understanding of Text-to-Image Diffusion Models with Large Language Models paper page: github: Recent advancements in text-to-image generation with diffusion models have yielded remarkable results synthesizing highly realistic and diverse images. However, these models still encounter difficulties when generating images from prompts that demand spatial or common sense reasoning. We propose to equip diffusion models with enhanced reasoning capabilities by using off-the-shelf pretrained large language models (LLMs) in a novel two-stage generation process. First, we adapt an LLM to be a text-guided layout generator through in-context learning. When provided with an image prompt, an LLM outputs a scene layout in the form of bounding boxes along with corresponding individual descriptions. Second, we steer a diffusion model with a novel controller to generate images conditioned on the layout. Both stages utilize frozen pretrained models without any LLM or diffusion model parameter optimization. We validate the superiority of our design by demonstrating its ability to outperform the base diffusion model in accurately generating images according to prompts that necessitate both language and spatial reasoning. Additionally, our method naturally allows dialog-based scene specification and is able to handle prompts in a language that is not well-supported by the underlying diffusion model.

LLM-grounded Diffusion: Enhancing Prompt Understanding of Text-to-Image Diffusion Models with Large Language Models paper page: github: Recent advancements in text-to-image generation with diffusion models have yielded remarkable results synthesizing highly realistic and diverse images. However, these models still encounter difficulties when generating images from prompts that demand spatial or common sense reasoning. We propose to equip diffusion models with enhanced reasoning capabilities by using off-the-shelf pretrained large language models (LLMs) in a novel two-stage generation process. First, we adapt an LLM to be a text-guided layout generator through in-context learning. When provided with an image prompt, an LLM outputs a scene layout in the form of bounding boxes along with corresponding individual descriptions. Second, we steer a diffusion model with a novel controller to generate images conditioned on the layout. Both stages utilize frozen pretrained models without any LLM or diffusion model parameter optimization. We validate the superiority of our design by demonstrating its ability to outperform the base diffusion model in accurately generating images according to prompts that necessitate both language and spatial reasoning. Additionally, our method naturally allows dialog-based scene specification and is able to handle prompts in a language that is not well-supported by the underlying diffusion model.

AK

83,657 views • 3 years ago

This is more than just a new season. This is the next step in our journey. 💙 Join a record number of season ticket holders at Stamford Bridge next season.

This is more than just a new season. This is the next step in our journey. 💙 Join a record number of season ticket holders at Stamford Bridge next season.

Chelsea FC Women

23,096 views • 1 month ago

Agile Continuous Jumping in Discontinuous Terrains discuss: We focus on agile, continuous, and terrain-adaptive jumping of quadrupedal robots in discontinuous terrains such as stairs and stepping stones. Unlike single-step jumping, continuous jumping requires accurately executing highly dynamic motions over long horizons, which is challenging for existing approaches. To accomplish this task, we design a hierarchical learning and control framework, which consists of a learned heightmap predictor for robust terrain perception, a reinforcement-learning-based centroidal-level motion policy for versatile and terrain-adaptive planning, and a low-level model-based leg controller for accurate motion tracking. In addition, we minimize the sim-to-real gap by accurately modeling the hardware characteristics. Our framework enables a Unitree Go1 robot to perform agile and continuous jumps on human-sized stairs and sparse stepping stones, for the first time to the best of our knowledge. In particular, the robot can cross two stair steps in each jump and completes a 3.5m long, 2.8m high, 14-step staircase in 4.5 seconds. Moreover, the same policy outperforms baselines in various other parkour tasks, such as jumping over single horizontal or vertical discontinuities.

Agile Continuous Jumping in Discontinuous Terrains discuss: We focus on agile, continuous, and terrain-adaptive jumping of quadrupedal robots in discontinuous terrains such as stairs and stepping stones. Unlike single-step jumping, continuous jumping requires accurately executing highly dynamic motions over long horizons, which is challenging for existing approaches. To accomplish this task, we design a hierarchical learning and control framework, which consists of a learned heightmap predictor for robust terrain perception, a reinforcement-learning-based centroidal-level motion policy for versatile and terrain-adaptive planning, and a low-level model-based leg controller for accurate motion tracking. In addition, we minimize the sim-to-real gap by accurately modeling the hardware characteristics. Our framework enables a Unitree Go1 robot to perform agile and continuous jumps on human-sized stairs and sparse stepping stones, for the first time to the best of our knowledge. In particular, the robot can cross two stair steps in each jump and completes a 3.5m long, 2.8m high, 14-step staircase in 4.5 seconds. Moreover, the same policy outperforms baselines in various other parkour tasks, such as jumping over single horizontal or vertical discontinuities.

AK

35,794 views • 1 year ago

A quick first pass at a new iteration of the realtime diffusion pipeline: physical interface → camera → realtime img2img → upscale → 3DGS through the new TripoSplat. Rough and held together with tape for now, but the whole loop runs end to end. Next: - better input and camera's pov, - splitting it across two machines to automate the hand-off, - and adding in the Tripo3D API for higher-res models... the 3D printer is just waiting for that. #diffusion #3DGS #TripoSplat

A quick first pass at a new iteration of the realtime diffusion pipeline: physical interface → camera → realtime img2img → upscale → 3DGS through the new TripoSplat. Rough and held together with tape for now, but the whole loop runs end to end. Next: - better input and camera's pov, - splitting it across two machines to automate the hand-off, - and adding in the Tripo3D API for higher-res models... the 3D printer is just waiting for that. #diffusion #3DGS #TripoSplat

Hugues Bruyère

15,526 views • 1 month ago

Robot policies must be both reliable and highly capable to be useful; the best way to achieve this level of performance is with reinforcement learning. However, for reinforcement learning you are usually stuck between two difficult options: reinforcement in the real world is often risky and expensive, while reinforcement learning in a traditional simulator takes a lot of engineering work and has a persistent sim-to-real gap. What if instead you could train your robot purely in a world model? RISE by Jiazhi Yang et al. uses a compositional world model to predict the future and evaluate progress. This allows for a self-improving pipeline, which learns a world model from real data and then learns how the robot should perform different tasks. This pipeline results in a data-driven way to improve policy performance from real data but without real-world reinforcement learning. Watch Episode #86 of RoboPapers, with Chris Paxton and Jiafei Duan, to learn more!

Robot policies must be both reliable and highly capable to be useful; the best way to achieve this level of performance is with reinforcement learning. However, for reinforcement learning you are usually stuck between two difficult options: reinforcement in the real world is often risky and expensive, while reinforcement learning in a traditional simulator takes a lot of engineering work and has a persistent sim-to-real gap. What if instead you could train your robot purely in a world model? RISE by Jiazhi Yang et al. uses a compositional world model to predict the future and evaluate progress. This allows for a self-improving pipeline, which learns a world model from real data and then learns how the robot should perform different tasks. This pipeline results in a data-driven way to improve policy performance from real data but without real-world reinforcement learning. Watch Episode #86 of RoboPapers, with Chris Paxton and Jiafei Duan, to learn more!

RoboPapers

38,334 views • 1 month ago

Big news from the TeleAI embodied intelligence team! They unveiled TextOp, a general cerebellar framework for real-time, text-driven humanoid control. TextOp lets humans control the robot via natural language, dynamically modifying instructions during runtime to instantly generate smooth, whole-body actions. This enables precise and highly versatile control. The framework uses a two-layer architecture: an action diffusion model (High-Level) and a general motion tracking policy (Low-Level). It’s a new paradigm that eliminates the need for pre-recorded scripts or manual programming.

Big news from the TeleAI embodied intelligence team! They unveiled TextOp, a general cerebellar framework for real-time, text-driven humanoid control. TextOp lets humans control the robot via natural language, dynamically modifying instructions during runtime to instantly generate smooth, whole-body actions. This enables precise and highly versatile control. The framework uses a two-layer architecture: an action diffusion model (High-Level) and a general motion tracking policy (Low-Level). It’s a new paradigm that eliminates the need for pre-recorded scripts or manual programming.

RoboHub🤖

23,804 views • 7 months ago