Related papers: M2Diffuser: Diffusion-based Trajectory Optimizatio…
Motion prediction is a challenging problem in autonomous driving as it demands the system to comprehend stochastic dynamics and the multi-modal nature of real-world agent interactions. Diffusion models have recently risen to prominence, and…
This work introduces DiffuseLoco, a framework for training multi-skill diffusion-based policies for dynamic legged locomotion from offline datasets, enabling real-time control of diverse skills on robots in the real world. Offline learning…
Diffusion-based generative models (DBGMs) perturb data to a target noise distribution and reverse this process to generate samples. The choice of noising process, or inference diffusion process, affects both likelihoods and sample quality.…
The Diffusion Probabilistic Model (DPM) has recently gained popularity in the field of computer vision, thanks to its image generation applications, such as Imagen, Latent Diffusion Models, and Stable Diffusion, which have demonstrated…
Multi-Agent Path Finding (MAPF) is a fundamental problem in robotics, requiring the computation of collision-free paths for multiple agents moving from their respective start to goal positions. Coordinating multiple agents in a shared…
We present a novel approach for generating motion primitives for kinodynamic motion planning using diffusion models. The motions generated by our approach are adapted to each problem instance by utilizing problem-specific parameters,…
Swarm robotic trajectory planning faces challenges in computational efficiency, scalability, and safety, particularly in complex, obstacle-dense environments. To address these issues, we propose SwarmDiff, a hierarchical and scalable…
Manipulation of large objects over long horizons (such as carts in a warehouse) is an essential skill for deployable robotic systems. Large objects require mobile manipulation which involves simultaneous manipulation, navigation, and…
The diffusion model has been proven a powerful generative model in recent years, yet remains a challenge in generating visual text. Several methods alleviated this issue by incorporating explicit text position and content as guidance on…
This paper studies full-body 3D human motion recovery from head-mounted device signals. Existing diffusion-based methods often rely on global distribution matching, leading to local joint reconstruction errors. We propose MotionGRPO, a…
Probabilistic denoising diffusion models (DDMs) have set a new standard for 2D image generation. Extending DDMs for 3D content creation is an active field of research. Here, we propose TetraDiffusion, a diffusion model that operates on a…
Diffusion-based robot navigation policies trained on large-scale imitation learning datasets, can generate multi-modal trajectories directly from the robot's visual observations, bypassing the traditional localization-mapping-planning…
Generating realistic 3D scenes is an area of growing interest in computer vision and robotics. However, creating high-quality, diverse synthetic 3D content often requires expert intervention, making it costly and complex. Recently, efforts…
By framing reinforcement learning as a sequence modeling problem, recent work has enabled the use of generative models, such as diffusion models, for planning. While these models are effective in predicting long-horizon state trajectories…
Diffusion Models represent a significant advancement in generative modeling, employing a dual-phase process that first degrades domain-specific information via Gaussian noise and restores it through a trainable model. This framework enables…
We present Dynamics-Guided Diffusion Model (DGDM), a data-driven framework for generating task-specific manipulator designs without task-specific training. Given object shapes and task specifications, DGDM generates sensor-less manipulator…
Diffusion-based trajectory planners have demonstrated strong capability for modeling the multimodal nature of human driving behavior, but their reliance on iterative stochastic sampling poses critical challenges for real-time,…
Reinforcement learning with stochastic optimal control offers a promising framework for diffusion fine-tuning, where a pre-trained diffusion model is optimized to generate paths that lead to a reward-tilted distribution. While these…
Human motion generation is a significant pursuit in generative computer vision with widespread applications in film-making, video games, AR/VR, and human-robot interaction. Current methods mainly utilize either diffusion-based generative…
While 3D hand reconstruction from monocular images has made significant progress, generating accurate and temporally coherent motion estimates from videos remains challenging, particularly during hand-object interactions. In this paper, we…