Related papers: Enhancing Diffusion Policy with Classifier-Free Gu…

Classifier-Free Guidance (CFG) is a widely used mechanism for controlling diffusion-based generative models, yet its guidance scale is typically treated as a fixed hyperparameter throughout generation. This static design yields a suboptimal…

Classifier-Free Guidance (CFG) is a cornerstone of modern conditional diffusion models, yet its reliance on the fixed or heuristic dynamic guidance weight is predominantly empirical and overlooks the inherent dynamics of the diffusion…

Classifier-Free Guidance (CFG) is a widely used technique for conditional generation and improving sample quality in continuous diffusion models, and its extensions to discrete diffusion has recently started to be investigated. In order to…

Imitation learning, particularly Diffusion Policies based methods, has recently gained significant traction in embodied AI as a powerful approach to action policy generation. These models efficiently generate action policies by learning to…

Classifier-free guidance (CFG) is a widely used technique for improving the perceptual quality of samples from conditional diffusion models. It operates by linearly combining conditional and unconditional score estimates using a guidance…

Diffusion Policy (DP) enables robots to learn complex behaviors by imitating expert demonstrations through action diffusion. However, in practical applications, hardware limitations often degrade data quality, while real-time constraints…

Classifier-free guidance (CFG) has become the standard method for enhancing the quality of conditional diffusion models. However, employing CFG requires either training an unconditional model alongside the main diffusion model or modifying…

Classifier-Free Guidance (CFG) enhances the quality and condition adherence of text-to-image diffusion models. It operates by combining the conditional and unconditional predictions using a fixed weight. However, recent works vary the…

Classifier-free guidance (CFG) is a cornerstone of text-to-image diffusion models, yet its effectiveness is limited by the use of static guidance scales. This "one-size-fits-all" approach fails to adapt to the diverse requirements of…

Classifier-Free Guidance (CFG) is a widely adopted technique in diffusion and flow-based generative models, enabling high-quality conditional generation. A key theoretical challenge is characterizing the distribution induced by CFG,…

Classifier-Free Guidance (CFG) is a widely used inference-time technique to boost the image quality of diffusion models. Yet, its reliance on text conditions prevents its use in unconditional generation. We propose a simple method to enable…

Classifier-Free Guidance (CFG) is widely used to improve conditional fidelity in diffusion models, but its impact on sampling dynamics remains poorly understood. Prior studies, often restricted to unimodal conditional distributions or…

Diffusion-based policies have achieved remarkable results in robotic manipulation but often struggle to adapt rapidly in dynamic scenarios, leading to delayed responses or task failures. We present DCDP, a Dynamic Closed-Loop Diffusion…

Generative model-based policies have shown strong performance in imitation-based robotic manipulation by learning action distributions from demonstrations. However, in long-horizon tasks, visually similar observations often recur across…

Classifier-Free Guidance (CFG) is a widely used technique for improving conditional diffusion models by linearly combining the outputs of conditional and unconditional denoisers. While CFG enhances visual quality and improves alignment with…

Classifier-Free Guidance (CFG) significantly enhances controllability in generative models by interpolating conditional and unconditional predictions. However, standard CFG often employs a static unconditional input, which can be suboptimal…

Classifier-free guidance (CFG) is a key technique for improving conditional generation in diffusion models, enabling more accurate control while enhancing sample quality. It is natural to extend this technique to video diffusion, which…

We investigate the theoretical foundations of classifier-free guidance (CFG). CFG is the dominant method of conditional sampling for text-to-image diffusion models, yet unlike other aspects of diffusion, it remains on shaky theoretical…

Modeling multimodal human behavior has been a key barrier to increasing the level of interaction between human and robot, particularly for collaborative tasks. Our key insight is that an effective, learned robot policy used for human-robot…

Diffusion models exhibit impressive scalability in robotic task learning, yet they struggle to adapt to novel, highly dynamic environments. This limitation primarily stems from their constrained replanning ability: they either operate at a…