相关论文: Diffusion Models for Multi-target Adversarial Trac…

Predicting pedestrian motion trajectories is critical for the path planning and motion control of autonomous vehicles. Recent diffusion-based models have shown promising results in capturing the inherent stochasticity of pedestrian behavior…

Predicting temporally consistent road users' trajectories in a multi-agent setting is a challenging task due to unknown characteristics of agents and their varying intentions. Besides using semantic map information and modeling…

Recently, the diffusion model has emerged as a powerful generative technique for robotic policy learning, capable of modeling multi-mode action distributions. Leveraging its capability for end-to-end autonomous driving is a promising…

Predicting how a dynamical unit evolves over time - how an individual ages, an epidemic spreads, or a physical system degrades - typically requires dense longitudinal tracking. When only extremely sparse or entirely cross-sectional data is…

Diffusion models have shown remarkable progress in various generative tasks such as image and video generation. This paper studies the problem of leveraging pretrained diffusion models for performing discriminative tasks. Specifically, we…

In this letter we focus on designing self-organizing diffusion mobile adaptive networks where the individual agents are allowed to move in pursuit of an objective (target). The well-known Adapt-then-Combine (ATC) algorithm is already…

In this paper, we study resilient distributed diffusion for multi-task estimation in the presence of adversaries where networked agents must estimate distinct but correlated states of interest by processing streaming data. We show that in…

Predicting pedestrian motion trajectories is critical for path planning and motion control of autonomous vehicles. However, accurately forecasting crowd trajectories remains a challenging task due to the inherently multimodal and uncertain…

Learning to perform accurate and rich simulations of human driving behaviors from data for autonomous vehicle testing remains challenging due to human driving styles' high diversity and variance. We address this challenge by proposing a…

Collaborative underwater target hunting, facilitated by multiple autonomous underwater vehicles (AUVs), plays a significant role in various domains, especially military missions. Existing research predominantly focuses on designing…

This paper introduces a diffusion-based planner for leader--follower formation control in cluttered environments. The diffusion policy is used to generate the trajectory of the midpoint of two leaders as a rigid bar in the plane, thereby…

We present a target-aware video diffusion model that generates videos from an input image, in which an actor interacts with a specified target while performing a desired action. The target is defined by a segmentation mask, and the action…

As the prediction horizon increases, predicting the future evolution of traffic scenes becomes increasingly difficult due to the multi-modal nature of agent motion. Most state-of-the-art (SotA) prediction models primarily focus on…

Object tracking is a fundamental task in computer vision, requiring the localization of objects of interest across video frames. Diffusion models have shown remarkable capabilities in visual generation, making them well-suited for…

Diffusion-based planners have shown strong potential for autonomous driving by capturing multi-modal driving behaviors. A key challenge is how to effectively guide these models for safe and reactive planning in closed-loop settings, where…

Distributed diffusion is a powerful algorithm for multi-task state estimation which enables networked agents to interact with neighbors to process input data and diffuse information across the network. Compared to a centralized approach,…

In the context of continuously rising global air traffic, efficient and safe Conflict Detection and Resolution (CD&R) is paramount for air traffic management. Although Deep Reinforcement Learning (DRL) offers a promising pathway for CD&R…

Realistic driving simulation requires that NPCs not only mimic natural driving behaviors but also react to the behavior of other simulated agents. Recent developments in diffusion-based scenario generation focus on creating diverse and…

The integration of Diffusion Models into Intelligent Transportation Systems (ITS) is a substantial improvement in the detection of accidents. We present a novel hybrid model integrating guidance classification with diffusion techniques. By…

Simulation of autonomous vehicle systems requires that simulated traffic participants exhibit diverse and realistic behaviors. The use of prerecorded real-world traffic scenarios in simulation ensures realism but the rarity of safety…