Yizhe Li

Ye Niu, Sanping Zhou, Yizhe Li et al.

In many complex scenarios, robotic manipulation relies on generative models to estimate the distribution of multiple successful actions. As the diffusion model has better training robustness than other generative models, it performs well in imitation learning through successful robot demonstrations. However, the diffusion-based policy methods typically require significant time to iteratively denoise robot actions, which hinders real-time responses in robotic manipulation. Moreover, existing diffusion policies model a time-varying action denoising process, whose temporal complexity increases the difficulty of model training and leads to suboptimal action accuracy. To generate robot actions efficiently and accurately, we present the Time-Unified Diffusion Policy (TUDP), which utilizes action recognition capabilities to build a time-unified denoising process. On the one hand, we build a time-unified velocity field in action space with additional action discrimination information. By unifying all timesteps of action denoising, our velocity field reduces the difficulty of policy learning and speeds up action generation. On the other hand, we propose an action-wise training method, which introduces an action discrimination branch to supply additional action discrimination information. Through action-wise training, the TUDP implicitly learns the ability to discern successful actions to better denoising accuracy. Our method achieves state-of-the-art performance on RLBench with the highest success rate of 82.6% on a multi-view setup and 83.8% on a single-view setup. In particular, when using fewer denoising iterations, TUDP achieves a more significant improvement in success rate. Additionally, TUDP can produce accurate actions for a wide range of real-world tasks.

Yu-Lin Tsai, Yizhe Li, Zekai Chen et al.

The integration of Differential Privacy (DP) with diffusion models (DMs) presents a promising yet challenging frontier, particularly due to the substantial memorization capabilities of DMs that pose significant privacy risks. Differential privacy offers a rigorous framework for safeguarding individual data points during model training, with Differential Privacy Stochastic Gradient Descent (DP-SGD) being a prominent implementation. Diffusion method decomposes image generation into iterative steps, theoretically aligning well with DP's incremental noise addition. Despite the natural fit, the unique architecture of DMs necessitates tailored approaches to effectively balance privacy-utility trade-off. Recent developments in this field have highlighted the potential for generating high-quality synthetic data by pre-training on public data (i.e., ImageNet) and fine-tuning on private data, however, there is a pronounced gap in research on optimizing the trade-offs involved in DP settings, particularly concerning parameter efficiency and model scalability. Our work addresses this by proposing a parameter-efficient fine-tuning strategy optimized for private diffusion models, which minimizes the number of trainable parameters to enhance the privacy-utility trade-off. We empirically demonstrate that our method achieves state-of-the-art performance in DP synthesis, significantly surpassing previous benchmarks on widely studied datasets (e.g., with only 0.47M trainable parameters, achieving a more than 35% improvement over the previous state-of-the-art with a small privacy budget on the CelebA-64 dataset). Anonymous codes available at https://anonymous.4open.science/r/DP-LORA-F02F.