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We present DiPPeST, a novel image and goal conditioned diffusion-based trajectory generator for quadrupedal robot path planning. DiPPeST is a zero-shot adaptation of our previously introduced diffusion-based 2D global trajectory generator…

Recent video generation approaches increasingly rely on planning intermediate control signals such as object trajectories to improve temporal coherence and motion fidelity. However, these methods mostly employ single-shot plans that are…

In this paper, we study the problem of procedure planning in instructional videos, which aims to make a plan (i.e. a sequence of actions) given the current visual observation and the desired goal. Previous works cast this as a sequence…

In this work, we present DreamDance, a novel method for animating human images using only skeleton pose sequences as conditional inputs. Existing approaches struggle with generating coherent, high-quality content in an efficient and…

Diffusion model, the state-of-the-art generative machine learning architecture, has shown promising results airfoil inverse designs. In this study, we implemented and trained a series of diffusion models on three different airfoil geometry…

Artist-drawn sketches only loosely conform to analytical models of perspective projection; the deviation of human-drawn perspective from analytical perspective models is persistent and well documented, but has yet to be algorithmically…

Realistic hair strand generation is crucial for applications like computer graphics and virtual reality. While diffusion models can generate hairstyles from text or images, these inputs lack precision and user-friendliness. Instead, we…

Diffusion models have recently emerged as powerful tools for robot motion planning by capturing the multi-modal distribution of feasible trajectories. However, their extension to multi-robot settings with flexible, language-conditioned task…

Modern diffusion models have set the state-of-the-art in AI image generation. Their success is due, in part, to training on Internet-scale data which often includes copyrighted work. This prompts questions about the extent to which these…

In this work, we study the task of sketch-guided image inpainting. Unlike the well-explored natural language-guided image inpainting, which excels in capturing semantic details, the relatively less-studied sketch-guided inpainting offers…

Diffusion models can be used as a motion planner by sampling from a distribution of possible futures. However, the samples may not satisfy hard constraints that exist only implicitly in the training data, e.g., avoiding falls or not…

We introduce the concept of a subjective camera to reconstruct meaningful moments that physical cameras fail to capture. We propose Subjective Camera 1.0, a framework for reconstructing real-world scenes from readily accessible subjective…

Computer-aided design (CAD) is the most widely used modeling approach for technical design. The typical starting point in these designs is 2D sketches which can later be extruded and combined to obtain complex three-dimensional assemblies.…

We present BlockFusion, a diffusion-based model that generates 3D scenes as unit blocks and seamlessly incorporates new blocks to extend the scene. BlockFusion is trained using datasets of 3D blocks that are randomly cropped from complete…

Kinodynamic motion planning is concerned with computing collision-free trajectories while abiding by the robot's dynamic constraints. This critical problem is often tackled using sampling-based planners (SBPs) that explore the robot's…

As 3D models become critical in today's manufacturing and product design, conventional 3D modeling approaches based on Computer-Aided Design (CAD) are labor-intensive, time-consuming, and have high demands on the creators. This work aims to…

Diffusion models have been successfully applied to robotics problems such as manipulation and vehicle path planning. In this work, we explore their application to end-to-end navigation -- including both perception and planning -- by…

We introduce a new method that efficiently computes a set of viewpoints and trajectories for high-quality 3D reconstructions in outdoor environments. Our goal is to automatically explore an unknown area, and obtain a complete 3D scan of a…

Sketching is an important activity in any design process. Designers and stakeholders share their ideas through hand-drawn sketches. These sketches are further used to create 3D models. Current methods to generate 3D models from sketches are…

Though the background is an important signal for image classification, over reliance on it can lead to incorrect predictions when spurious correlations between foreground and background are broken at test time. Training on a dataset where…