Related papers: ScanDP: Generalizable 3D Scanning with Diffusion P…

Recent inverse problem solvers that leverage generative diffusion priors have garnered significant attention due to their exceptional quality. However, adaptation of the prior is necessary when there exists a discrepancy between the…

One of the fundamental problems within the field of machine learning is dimensionality reduction. Dimensionality reduction methods make it possible to combat the so-called curse of dimensionality, visualize high-dimensional data and, in…

Gaussian Splatting has become a popular technique for various 3D Computer Vision tasks, including novel view synthesis, scene reconstruction, and dynamic scene rendering. However, the challenge of natural-looking object insertion, where the…

LiDAR-based place recognition serves as a crucial enabler for long-term autonomy in robotics and autonomous driving systems. Yet, prevailing methodologies relying on handcrafted feature extraction face dual challenges: (1) Inconsistent…

Diffusion policies are powerful visuomotor models for robotic manipulation, yet they often fail to generalize to manipulators or end-effectors unseen during training and struggle to accommodate new task requirements at inference time.…

Learning domain adaptive policies that can generalize to unseen transition dynamics, remains a fundamental challenge in learning-based control. Substantial progress has been made through domain representation learning to capture…

In robotics, diffusion models can capture multi-modal trajectories from demonstrations, making them a transformative approach in imitation learning. However, achieving optimal performance following this regiment requires a large-scale…

Articulated object manipulation is essential for various real-world robotic tasks, yet generalizing across diverse objects remains a major challenge. A key to generalization lies in understanding functional parts (e.g., door handles and…

Diffusion has shown great success in improving accuracy of unsupervised image retrieval systems by utilizing high-order structures of image manifold. However, existing diffusion methods suffer from three major limitations: 1) they usually…

We aim to solve the problem of generating coarse-to-fine skills learning from demonstrations (LfD). To scale precision, traditional LfD approaches often rely on extensive fine-grained demonstrations with external interpolations or dynamics…

Unsupervised 3D representation learning reduces the burden of labeling multimodal 3D data for fusion perception tasks. Among different pre-training paradigms, differentiable-rendering-based methods have shown most promise. However, existing…

Planning with pretrained diffusion models has emerged as a promising approach for solving test-time guided control problems. Standard gradient guidance typically performs optimally under convex, differentiable reward landscapes. However, it…

We present a novel diffusion-based approach for coherent 3D scene reconstruction from a single RGB image. Our method utilizes an image-conditioned 3D scene diffusion model to simultaneously denoise the 3D poses and geometries of all objects…

We introduce a new general-purpose approach to deep learning on 3D surfaces, based on the insight that a simple diffusion layer is highly effective for spatial communication. The resulting networks are automatically robust to changes in…

Safe trajectory planning in complex environments must balance stringent collision avoidance with real-time efficiency, which is a long-standing challenge in robotics. In this work, we present a diffusion-based trajectory planning framework…

Generating images from graph-structured inputs, such as scene graphs, is uniquely challenging due to the difficulty of aligning nodes and connections in graphs with objects and their relations in images. Most existing methods address this…

Generating unbounded 3D scenes is crucial for large-scale scene understanding and simulation. Urban scenes, unlike natural landscapes, consist of various complex man-made objects and structures such as roads, traffic signs, vehicles, and…

We introduce PolyDiff, the first diffusion-based approach capable of directly generating realistic and diverse 3D polygonal meshes. In contrast to methods that use alternate 3D shape representations (e.g. implicit representations), our…

Data augmentation plays a crucial role in deep learning, enhancing the generalization and robustness of learning-based models. Standard approaches involve simple transformations like rotations and flips for generating extra data. However,…

Acquiring high-quality data for training discriminative models is a crucial yet challenging aspect of building effective predictive systems. In this paper, we present Diffusion Inversion, a simple yet effective method that leverages the…