Related papers: Bayesian-Optimized One-Step Diffusion Model with K…

This paper proposes an image-based robot motion planning method using a one-step diffusion model. While the diffusion model allows for high-quality motion generation, its computational cost is too expensive to control a robot in real time.…

Predicting human motion plays a crucial role in ensuring a safe and effective human-robot close collaboration in intelligent remanufacturing systems of the future. Existing works can be categorized into two groups: those focusing on…

Diffusion models, praised for their success in generative tasks, are increasingly being applied to robotics, demonstrating exceptional performance in behavior cloning. However, their slow generation process stemming from iterative denoising…

Stochastic human motion prediction (HMP) has generally been tackled with generative adversarial networks and variational autoencoders. Most prior works aim at predicting highly diverse movements in terms of the skeleton joints' dispersion.…

We present a new method for making diffusion models faster to sample. The method distills many-step diffusion models into few-step models by matching conditional expectations of the clean data given noisy data along the sampling trajectory.…

This paper introduces a Multi-modal Diffusion model for Motion Prediction (MDMP) that integrates and synchronizes skeletal data and textual descriptions of actions to generate refined long-term motion predictions with quantifiable…

We present Bayesian Diffusion Models (BDM), a prediction algorithm that performs effective Bayesian inference by tightly coupling the top-down (prior) information with the bottom-up (data-driven) procedure via joint diffusion processes. We…

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.…

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 excel at generating diverse and multimodal trajectories for robotic planning, yet their iterative denoising process introduces latency that is incompatible with high-frequency closed-loop control. To address this problem,…

Image diffusion distillation achieves high-fidelity generation with very few sampling steps. However, applying these techniques directly to video diffusion often results in unsatisfactory frame quality due to the limited visual quality in…

We propose a method to distill a complex multistep diffusion model into a single-step conditional GAN student model, dramatically accelerating inference, while preserving image quality. Our approach interprets diffusion distillation as a…

Multi-step prediction models, such as diffusion and rectified flow models, have emerged as state-of-the-art solutions for generation tasks. However, these models exhibit higher latency in sampling new frames compared to single-step methods.…

Diffusion models generate high-quality images but require dozens of forward passes. We introduce Distribution Matching Distillation (DMD), a procedure to transform a diffusion model into a one-step image generator with minimal impact on…

The performance of optimization-based robot motion planning algorithms is highly dependent on the initial solutions, commonly obtained by running a sampling-based planner to obtain a collision-free path. However, these methods can be slow…

Generative models, particularly diffusion models, have made significant success in data synthesis across various modalities, including images, videos, and 3D assets. However, current diffusion models are computationally intensive, often…

Robust and accurate perception of humans in their 3D scene context is essential for integrating robots into everyday environments. Existing approaches, however, often fail to predict plausible and accurate human motion estimates that are…

Recent advancements in human image animation have been propelled by video diffusion models, yet their reliance on numerous iterative denoising steps results in high inference costs and slow speeds. An intuitive solution involves adopting…

We present HumanCM, a one-step human motion prediction framework built upon consistency models. Instead of relying on multi-step denoising as in diffusion-based methods, HumanCM performs efficient single-step generation by learning a…

Diffusion-based image compression methods have achieved notable progress, delivering high perceptual quality at low bitrates. However, their practical deployment is hindered by significant inference latency and heavy computational overhead,…