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

Given an unconditional diffusion model and a predictor for a target property of interest (e.g., a classifier), the goal of training-free guidance is to generate samples with desirable target properties without additional training. Existing…

Classifier-free guidance (CFG) has become an essential component of modern diffusion models to enhance both generation quality and alignment with input conditions. However, CFG requires specific training procedures and is limited to…

This paper presents a comprehensive study on the role of Classifier-Free Guidance (CFG) in text-conditioned diffusion models from the perspective of inference efficiency. In particular, we relax the default choice of applying CFG in all…

Classifier-Free Guidance (CFG) is a fundamental technique in training conditional diffusion models. The common practice for CFG-based training is to use a single network to learn both conditional and unconditional noise prediction, with a…

Diffusion models have achieved remarkable success in text-to-image synthesis, largely attributed to the use of classifier-free guidance (CFG), which enables high-quality, condition-aligned image generation. CFG combines the conditional…

Striking a balance between efficiency and transparent motion is a core challenge in human-robot collaboration, as highly expressive movements often incur unnecessary time and energy costs. In collaborative environments, legibility allows a…

Classifier-free guidance (CFG) is an essential mechanism in contemporary text-driven diffusion models. In practice, in controlling the impact of guidance we can see the trade-off between the quality of the generated images and…

Classifier-free guidance (CFG) is the workhorse for steering large diffusion models toward text-conditioned targets, yet its native application to rectified flow (RF) based models provokes severe off-manifold drift, yielding visual…

In many complex scenarios, robotic manipulation relies on generative models to estimate the distribution of multiple successful actions. As the diffusion model has better training robustness than other generative models, it performs well in…

Classifier-free guidance (CFG) is crucial for improving both generation quality and alignment between the input condition and final output in diffusion models. While a high guidance scale is generally required to enhance these aspects, it…

This paper presents Model-guidance (MG), a novel objective for training diffusion model that addresses and removes of the commonly used Classifier-free guidance (CFG). Our innovative approach transcends the standard modeling of solely data…

In this paper, we consider the problem of deploying a robot from a specification given as a temporal logic statement about some properties satisfied by the regions of a large, partitioned environment. We assume that the robot has noisy…

We introduce Policy Gradient Guidance (PGG), a simple extension of classifier-free guidance from diffusion models to classical policy gradient methods. PGG augments the policy gradient with an unconditional branch and interpolates…

The conditional diffusion model has been demonstrated as an efficient tool for learning robot policies, owing to its advancement to accurately model the conditional distribution of policies. The intricate nature of real-world scenarios,…

Counterfactual generation aims to simulate realistic hypothetical outcomes under causal interventions. Diffusion models have emerged as a powerful tool for this task, combining DDIM inversion with conditional generation and classifier-free…

Classifier-free guidance (CFG) succeeds in condition diffusion models that use a guidance scale to balance the influence of conditional and unconditional terms. A high guidance scale is used to enhance the performance of the conditional…

Classifier-Free Guidance (CFG) is an essential component of text-to-image diffusion models, and understanding and advancing its operational mechanisms remains a central focus of research. Existing approaches stem from divergent theoretical…

As a robot senses and selects actions, the world keeps changing. This inference delay creates a gap of tens to hundreds of milliseconds between the observed state and the state at execution. In this work, we take the natural generalization…

Denoising diffusion models excel at generating high-quality images conditioned on text prompts, yet their effectiveness heavily relies on careful guidance during the sampling process. Classifier-Free Guidance (CFG) provides a widely used…

Learning from expert demonstrations is a promising approach for training robotic manipulation policies from limited data. However, imitation learning algorithms require a number of design choices ranging from the input modality, training…