Related papers: Denoising Heat-inspired Diffusion with Insulators …
We present a novel perspective on goal-conditioned reinforcement learning by framing it within the context of denoising diffusion models. Analogous to the diffusion process, where Gaussian noise is used to create random trajectories that…
Diffusion policies have recently emerged as a powerful paradigm for visuomotor control in robotic manipulation due to their ability to model the distribution of action sequences and capture multimodality. However, iterative denoising leads…
Denoising diffusion models trained at web-scale have revolutionized image generation. The application of these tools to engineering design is an intriguing possibility, but is currently limited by their inability to parse and enforce…
This study introduces a hybrid fluid simulation approach that integrates generative diffusion models with physics-based simulations, aiming at reducing the computational costs of flow simulations while still honoring all the physical…
Motion in-betweening, a fundamental task in character animation, consists of generating motion sequences that plausibly interpolate user-provided keyframe constraints. It has long been recognized as a labor-intensive and challenging…
Diffusion models have been verified to be effective in generating complex distributions from natural images to motion trajectories. Recent diffusion-based methods show impressive performance in 3D robotic manipulation tasks, whereas they…
Diffusion models are state-of-the-art generative models, yet their samples often fail to satisfy application objectives such as safety constraints or domain-specific validity. Existing techniques for alignment require gradients, internal…
Diffusion models have achieved state-of-the-art synthesis quality on both visual and audio tasks, and recent works further adapt them to textual data by diffusing on the embedding space. In this paper, we conduct systematic studies of the…
Diffusion models generate new samples by progressively decreasing the noise from the initially provided random distribution. This inference procedure generally utilizes a trained neural network numerous times to obtain the final output,…
Diffusion models have demonstrated remarkable performance in generation tasks. Nevertheless, explaining the diffusion process remains challenging due to it being a sequence of denoising noisy images that are difficult for experts to…
Purely RGB-based vision models often fail to provide reliable cues in challenging scenarios such as nighttime and fog, leading to degraded performance and safety risks. Infrared imaging captures heat-emitting sources and provides critical…
Diffusion models, as a class of deep generative models, have recently emerged as powerful tools for robot skills by enabling stable training with reliable convergence. In this paper, we present an end-to-end framework for generating long,…
High-risk traffic zones such as intersections are a major cause of collisions. This study leverages deep generative models to enhance the safety of autonomous vehicles in an intersection context. We train a 1000-step denoising diffusion…
We consider the inverse problem of denoising an image where each point (pixel) is an element of a target set, which we refer to as a target-valued image. The target sets considered are either (i) a closed convex set of Euclidean space or…
Diffusion Policies have demonstrated impressive performance in robotic manipulation tasks. However, their long inference time, resulting from an extensive iterative denoising process, and the need to execute an action chunk before the next…
Deep generative models have garnered significant attention in low-level vision tasks due to their generative capabilities. Among them, diffusion model-based solutions, characterized by a forward diffusion process and a reverse denoising…
Denoising diffusion models have recently emerged as a powerful class of generative models. They provide state-of-the-art results, not only for unconditional simulation, but also when used to solve conditional simulation problems arising in…
Diffusion policies are powerful visuomotor models for robotic manipulation, yet they often fail to generalize to manipulators or end-effectors unseen during training and struggle to accommodate new task requirements at inference time.…
One of the bottlenecks in robotic intelligence is the instability of neural network models, which, unlike control models, lack a well-defined convergence domain and stability. This leads to risks when applying intelligence in the physical…
Diffusion models are generative models that have shown significant advantages compared to other generative models in terms of higher generation quality and more stable training. However, the computational need for training diffusion models…