Density ratios quantify distribution shift from a probability-mass point of view, whereas displacement fields describe, from a dynamical point of view, how one distribution is transported onto another. Although both offer complementary insights, they are usually estimated separately, and converting one into the other r …
Mutual information (MI) provides an objective for suppressing or encouraging statistical dependence in implicit generative models. However, direct MI evaluation is challenging in implicit models due to typically intractable densities. A remedy is estimating the generator gradient from the difference between conditional …
Comparing two high-dimensional discrete distributions has always been a challenging task due to the exponentially growing state space and complex changes in interactions. A recent work suggests comparing distributions through a vector field trained using flow matching between two continuous distributions. The resulting …
General-purpose embodied manipulation hinges on a unified action representation that generalizes across embodiments and scales readily. Yet existing policies rely on embodiment-specific action spaces, making cross-embodiment demonstrations difficult to leverage at scale and limiting transfer to new embodiments and spat …