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Physical systems with complex unsteady dynamics, such as fluid flows, are often poorly represented by a single mean solution. For many practical applications, it is crucial to access the full distribution of possible states, from which…

Diffusion models are promising for joint trajectory prediction and controllable generation in autonomous driving, but they face challenges of inefficient inference steps and high computational demands. To tackle these challenges, we…

Layout Generation aims to synthesize plausible arrangements from given elements. Currently, the predominant methods in layout generation are Generative Adversarial Networks (GANs) and diffusion models, each presenting its own set of…

This paper presents TSPDiffuser, a novel data-driven path planner for traveling salesperson path planning problems (TSPPPs) in environments rich with obstacles. Given a set of destinations within obstacle maps, our objective is to…

Diffusion models indirectly estimate the probability density over a data space, which can be used to study its structure. In this work, we show that geodesics can be computed in diffusion latent space, where the norm induced by the…

Diffusion models have achieved remarkable success in video generation; however, the high computational cost of the denoising process remains a major bottleneck. Existing approaches have shown promise in reducing the number of diffusion…

Methods for out-of-distribution (OOD) detection that scale to 3D data are crucial components of any real-world clinical deep learning system. Classic denoising diffusion probabilistic models (DDPMs) have been recently proposed as a robust…

Diffusion models achieve state-of-the-art image generation but remain computationally costly due to iterative denoising. Latent-space models like Stable Diffusion reduce overhead yet lose fine detail, while retrieval-augmented methods…

With the increasing availability of open-source robotic data, imitation learning has become a promising approach for both manipulation and locomotion. Diffusion models are now widely used to train large, generalized policies that predict…

Discrete diffusion models have emerged as a powerful class of models and a promising route to fast language generation, but practical implementations typically rely on factored reverse transitions ignoring cross-token dependencies and…

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…

Diffusion models have emerged as powerful generative approaches for missing-data imputation, yet most existing methods operate directly in data space and degrade when training data are heavily incomplete. We investigate whether shifting…

Recent advances in generative models have yielded impressive progress on motion in-betweening, allowing for more complex, varied, and realistic motion transitions. However, recent methods still exhibit noticeable limitations in preserving…

The growing adoption of generative AI in real-world applications has exposed a critical bottleneck in the computational demands of diffusion-based text-to-image models. In this work, we propose KDC-Diff, a novel and scalable generative…

Diffusion models (DMs) excel in photo-realistic image synthesis, but their adaptation to LiDAR scene generation poses a substantial hurdle. This is primarily because DMs operating in the point space struggle to preserve the curve-like…

Sampling-based path planning is a widely used method in robotics, particularly in high-dimensional state space. Among the whole process of the path planning, collision detection is the most time-consuming operation. In this paper, we…

Diffusion models have exhibited exciting capabilities in generating images and are also very promising for video creation. However, the inference speed of diffusion models is limited by the slow sampling process, restricting its use cases.…

Neural networks are known to be susceptible to adversarial samples: small variations of natural examples crafted to deliberately mislead the models. While they can be easily generated using gradient-based techniques in digital and physical…

Classical methods in robot motion planning, such as sampling-based and optimization-based methods, often struggle with scalability towards higher-dimensional state spaces and complex environments. Diffusion models, known for their…

Urban mobility data has significant connections with economic growth and plays an essential role in various smart-city applications. However, due to privacy concerns and substantial data collection costs, fine-grained human mobility…