Related papers: Efficient Diffusion Planning with Temporal Diffusi…

This paper introduces Consistency Trajectory Planning (CTP), a novel offline model-based reinforcement learning method that leverages the recently proposed Consistency Trajectory Model (CTM) for efficient trajectory optimization. While…

Diffusion Policies have demonstrated impressive performance in robotic manipulation tasks. However, their long inference time, resulting from an extensive iterative denoising process, and the need to execute an action chunk before the next…

Diffusion models have recently achieved great success in the synthesis of high-quality images and videos. However, the existing denoising techniques in diffusion models are commonly based on step-by-step noise predictions, which suffers…

Offline decision-making via diffusion models often produces trajectories that are misaligned with system dynamics, limiting their reliability for control. We propose Model Predictive Diffuser (MPDiffuser), a compositional diffusion…

Diffusion Transformers (DiTs) have achieved state-of-the-art performance in image and video generation, but their success comes at the cost of heavy computation. This inefficiency is largely due to the fixed tokenization process, which uses…

Offline reinforcement learning (RL) aims to learn optimal policies from offline datasets, where the parameterization of policies is crucial but often overlooked. Recently, Diffsuion-QL significantly boosts the performance of offline RL by…

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…

Motion planning in dynamic urban environments requires balancing immediate safety with long-term goals. While diffusion models effectively capture multi-modal decision-making, existing approaches treat trajectories as monolithic entities,…

Diffusion models have emerged as a powerful paradigm for generative sequential recommendation, which typically generate next items to recommend guided by user interaction histories with a multi-step denoising process. However, the…

Imitation learning is an efficient method for teaching robots a variety of tasks. Diffusion Policy, which uses a conditional denoising diffusion process to generate actions, has demonstrated superior performance, particularly in learning…

This work aims to improve the efficiency of text-to-image diffusion models. While diffusion models use computationally expensive UNet-based denoising operations in every generation step, we identify that not all operations are equally…

Diffusion models, emerging as powerful deep generative tools, excel in various applications. They operate through a two-steps process: introducing noise into training samples and then employing a model to convert random noise into new…

Diffusion models have demonstrated highly-expressive generative capabilities in vision and NLP. Recent studies in reinforcement learning (RL) have shown that diffusion models are also powerful in modeling complex policies or trajectories in…

Diffusion policies (DP) have demonstrated significant potential in visual navigation by capturing diverse multi-modal trajectory distributions. However, standard imitation learning (IL), which most DP methods rely on for training, often…

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…

Diffusion models have recently shown promise in offline RL. However, these methods often suffer from high training costs and slow convergence, particularly when using transformer-based denoising backbones. While several optimization…

Diffusion models have seen rapid adoption in robotic imitation learning, enabling autonomous execution of complex dexterous tasks. However, action synthesis is often slow, requiring many steps of iterative denoising, limiting the extent to…

We propose a simple, efficient, yet powerful framework for dense visual predictions based on the conditional diffusion pipeline. Our approach follows a "noise-to-map" generative paradigm for prediction by progressively removing noise from a…

Recent studies demonstrate that diffusion planners benefit from sparse-step planning over single-step planning. Training models to skip steps in their trajectories helps capture long-term dependencies without additional memory or…

Diffusion Transformer (DiT), an emerging diffusion model for image generation, has demonstrated superior performance but suffers from substantial computational costs. Our investigations reveal that these costs stem from the static inference…