4 accepted papers
Planning with pretrained diffusion models has emerged as a promising approach for solving test-time guided control problems. Standard gradient guidance typically performs optimally under convex, differentiable reward landscapes. However, it shows substantially reduced effectiveness in real-world sce…
When we, humans, perform a task, we consider changes in environments such as objects' arrangement due to interactions with objects and other reasons; e.g., when we find a mug to clean, if it is already clean, we skip cleaning it. But even the state-of-the-art embodied agents often ignore changed env…
"Simulated virtual environments have been widely used to learn robotic agents that perform daily household tasks. These environments encourage research progress by far, but often provide limited object interactability, visual appearance different from real-world environments, or relatively smaller e…
Accomplishing household tasks such as 'bringing a cup of water' requires to plan step-by-step actions by maintaining the knowledge about the spatial arrangement of objects and consequences of previous actions. Perception models of current embodied AI agents, however, often make mistakes due to lack…