Related papers: Diffusion-EDFs: Bi-equivariant Denoising Generativ…
Decision-making in robotics using denoising diffusion processes has increasingly become a hot research topic, but end-to-end policies perform poorly in tasks with rich contact and have limited controllability. This paper proposes…
Diffusion models are the current state-of-the-art in image generation, synthesizing high-quality images by breaking down the generation process into many fine-grained denoising steps. Despite their good performance, diffusion models are…
We propose an efficient approach to train large diffusion models with masked transformers. While masked transformers have been extensively explored for representation learning, their application to generative learning is less explored in…
Diffusion models have shown remarkable success across a wide range of generative tasks. However, they often suffer from spatially inconsistent generation, arguably due to the inherent locality of their denoising mechanisms. This can yield…
Diffusion models exhibited tremendous progress in image and video generation, exceeding GANs in quality and diversity. However, they are usually trained on very large datasets and are not naturally adapted to manipulate a given input image…
Diffusion policies excel at learning complex action distributions for robotic visuomotor tasks, yet their iterative denoising process poses a major bottleneck for real-time deployment. Existing acceleration methods apply a fixed number of…
Diffusion models, such as Stable Diffusion, have shown incredible performance on text-to-image generation. Since text-to-image generation often requires models to generate visual concepts with fine-grained details and attributes specified…
Diffusion models arise as a powerful generative tool recently. Despite the great progress, existing diffusion models mainly focus on uni-modal control, i.e., the diffusion process is driven by only one modality of condition. To further…
We propose a simple and novel method for generating 3D human motion from complex natural language sentences, which describe different velocity, direction and composition of all kinds of actions. Different from existing methods that use…
Diffusion-based generative graph models have been proven effective in generating high-quality small graphs. However, they need to be more scalable for generating large graphs containing thousands of nodes desiring graph statistics. In this…
The field of photorealistic 3D avatar reconstruction and generation has garnered significant attention in recent years; however, animating such avatars remains challenging. Recent advances in diffusion models have notably enhanced the…
Human videos are a scalable source of training data for robot learning. However, humans and robots significantly differ in embodiment, making many human actions infeasible for direct execution on a robot. Still, these demonstrations convey…
Diffusion models have emerged as powerful generative models in the text-to-image domain. This paper studies their application as observation-to-action models for imitating human behaviour in sequential environments. Human behaviour is…
Visual imitation learning is effective for robots to learn versatile tasks. However, many existing methods rely on behavior cloning with supervised historical trajectories, limiting their 3D spatial and 4D spatiotemporal awareness.…
Current methods based on deep learning for self-supervised low-dose CT (LDCT) reconstruction, while reducing the dependence on paired data, face the problem of significantly decreased generalization when training with single-dose data and…
Bimanual manipulation is crucial in robotics, enabling complex tasks in industrial automation and household services. However, it poses significant challenges due to the high-dimensional action space and intricate coordination requirements.…
Forecasting a typical object's future motion is a critical task for interpreting and interacting with dynamic environments in computer vision. Event-based sensors, which could capture changes in the scene with exceptional temporal…
Recently, diffusion models (DMs) have made significant strides in high-quality image generation. However, the multi-step denoising process often results in considerable computational overhead, impeding deployment on resource-constrained…
Transformer-based Diffusion Probabilistic Models (DPMs) have shown more potential than CNN-based DPMs, yet their extensive computational requirements hinder widespread practical applications. To reduce the computation budget of…
Endoscopic Submucosal Dissection (ESD) is a well-established technique for removing epithelial lesions. Predicting dissection trajectories in ESD videos offers significant potential for enhancing surgical skill training and simplifying the…