Related papers: PocketDP3: Efficient Pocket-Scale 3D Visuomotor Po…

Comparing images captured by disparate sensors is a common challenge in remote sensing. This requires image translation -- converting imagery from one sensor domain to another while preserving the original content. Denoising 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…

Learning from demonstrations faces challenges in generalizing beyond the training data and often lacks collision awareness. This paper introduces Lan-o3dp, a language-guided object-centric diffusion policy framework that can adapt to unseen…

Diffusion models have achieved impressive generative quality across modalities like 2D images, videos, and 3D shapes, but their inference remains computationally expensive due to the iterative denoising process. While recent caching-based…

We investigate methods to reduce inference time and memory footprint in stable diffusion models by introducing lightweight decoders for both image and video synthesis. Traditional latent diffusion pipelines rely on large Variational…

Diffusion models have recently revolutionized the field of image synthesis due to their ability to generate photorealistic images. However, one of the major drawbacks of diffusion models is that the image generation process is costly. A…

Robust perception and dynamics modeling are fundamental to real-world robotic policy learning. Recent methods employ video diffusion models (VDMs) to enhance robotic policies, improving their understanding and modeling of the physical…

Accurate 3D scene understanding in outdoor environments heavily relies on high-quality point clouds. However, LiDAR-scanned data often suffer from extreme sparsity, severely hindering downstream 3D perception tasks. Existing point cloud…

Diffusion policies have recently emerged as a powerful paradigm for visuomotor control in robotic manipulation due to their ability to model the distribution of action sequences and capture multimodality. However, iterative denoising leads…

Redundant manipulators, with their higher Degrees of Freedom (DoFs), offer enhanced kinematic performance and versatility, making them suitable for applications like manufacturing, surgical robotics, and human-robot collaboration. However,…

Generating realistic 3D scenes is an area of growing interest in computer vision and robotics. However, creating high-quality, diverse synthetic 3D content often requires expert intervention, making it costly and complex. Recently, efforts…

Diffusion models produce high-quality synthetic data but suffer from slow inference. We propose 3D Variable-Step Denoising Diffusion Probabilistic Model (VS-DDPM) a framework engineered to maintain generative quality while accelerating…

Despite the recent visually-pleasing results achieved, the massive computational cost has been a long-standing flaw for diffusion probabilistic models (DPMs), which, in turn, greatly limits their applications on resource-limited platforms.…

Diffusion policies, widely adopted in decision-making scenarios such as robotics, gaming and autonomous driving, are capable of learning diverse skills from demonstration data due to their high representation power. However, the sub-optimal…

Recently, Vision-Language-Action models (VLA) have advanced robot imitation learning, but high data collection costs and limited demonstrations hinder generalization and current imitation learning methods struggle in out-of-distribution…

We explore the connection between Plug-and-Play (PnP) methods and Denoising Diffusion Implicit Models (DDIM) for solving ill-posed inverse problems, with a focus on single-pixel imaging. We begin by identifying key distinctions between PnP…

n this work, we propose a latent molecular diffusion model that can make the generated 3D molecules rich in diversity and maintain rich geometric features. The model captures the information of the forces and local constraints between atoms…

Diffusion-based text-to-image generation models trade latency for quality: small models are fast but generate lower-quality images, while large models produce better images but are slow. We present MoDM, a novel caching-based serving system…

Diffusion planning is a promising method for learning high-performance policies from offline data. To avoid the impact of discrepancies between planning and reality on performance, previous works generate new plans at each time step.…

Diffusion Probabilistic Models (DPMs) are generative models showing competitive performance in various domains, including image synthesis and 3D point cloud generation. Sampling from pre-trained DPMs involves multiple neural function…