相关论文: Diffusion Self-Organizing Map on the Hypersphere

Score-based methods have recently seen increasing popularity in modeling and generation. Methods have been constructed to perform hypothesis testing and change-point detection with score functions, but these methods are in general not as…

In Diffusion Probabilistic Models (DPMs), the task of modeling the score evolution via a single time-dependent neural network necessitates extended training periods and may potentially impede modeling flexibility and capacity. To counteract…

Diffusion frameworks have achieved comparable performance with previous state-of-the-art image generation models. Researchers are curious about its variants in discriminative tasks because of its powerful noise-to-image denoising pipeline.…

In many real world applications, data cannot be accurately represented by vectors. In those situations, one possible solution is to rely on dissimilarity measures that enable sensible comparison between observations. Kohonen's…

Dynamic point cloud pretraining is still dominated by masked reconstruction objectives. However, these objectives inherit two key limitations. Existing methods inject ground-truth tube centers as decoder positional embeddings, causing…

Most recent diffusion-based methods still show a large gap compared to non-diffusion methods for video frame interpolation, in both accuracy and efficiency. Most of them formulate the problem as a denoising procedure in latent space…

Random diffusions are a popular tool in Monte-Carlo estimations, with well established algorithms such as Walk-on-Spheres (WoS) going back several decades. In this work, we introduce diffusion estimators for the problems of angular…

Addressing decision-making problems using sequence modeling to predict future trajectories shows promising results in recent years. In this paper, we take a step further to leverage the sequence predictive method in wider areas such as…

Localization in a pre-built map is a basic technique for robot autonomous navigation. Existing mapping and localization methods commonly work well in small-scale environments. As a map grows larger, however, more memory is required and…

This is the first in a series of papers on implementing a discontinuous Galerkin method as a MATLAB / GNU Octave toolbox. The main goal is the development of techniques that deliver optimized computational performance combined with a…

The performance of optimization-based robot motion planning algorithms is highly dependent on the initial solutions, commonly obtained by running a sampling-based planner to obtain a collision-free path. However, these methods can be slow…

In this article, we discuss the numerical solution of diffusion equations on random surfaces within the isogeometric framework. We describe in detail, how diffusion problems on random surfaces can be modelled and how quantities of interest…

Diffusion models have emerged as a powerful framework in generative modeling, typically relying on optimizing neural networks to estimate the score function via forward SDE simulations. In this work, we propose an alternative method that is…

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…

In this paper, we describe an algorithm FARDiff (Fuzzy Adaptive Resonance Dif- fusion) which combines Diffusion Maps and Fuzzy Adaptive Resonance Theory to do clustering on high dimensional data. We describe some applications of this method…

Diffusion models have achieved huge empirical success in data generation tasks. Recently, some efforts have been made to adapt the framework of diffusion models to discrete state space, providing a more natural approach for modeling…

Diffusion models have recently been successfully applied to a wide range of robotics applications for learning complex multi-modal behaviors from data. However, prior works have mostly been confined to single-robot and small-scale…

Estimating correspondences between pairs of deformable shapes remains a challenging problem. Despite substantial progress, existing methods lack broad generalization capabilities and require category-specific training data. To address these…

Map matching for sparse trajectories is a fundamental problem for many trajectory-based applications, e.g., traffic scheduling and traffic flow analysis. Existing methods for map matching are generally based on Hidden Markov Model (HMM) or…

Denoising diffusion probabilistic models have recently received much research attention since they outperform alternative approaches, such as GANs, and currently provide state-of-the-art generative performance. The superior performance of…