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

Diffusion models have become a popular choice for decision-making tasks in robotics, and more recently, are also being considered for solving autonomous driving tasks. However, their applications and evaluations in autonomous driving remain…

In recent years, advances in underwater networking and multi-agent reinforcement learning (MARL) have significantly expanded multi-autonomous underwater vehicle (AUV) applications in marine exploration and target tracking. However, current…

This paper introduces a crowd modeling and motion control approach that employs diffusion adaptation within an adaptive network. In the network, nodes collaboratively address specific estimation problems while simultaneously moving as…

Diffusion models exhibit excellent sample quality, but existing guidance methods often require additional model training or are limited to specific tasks. We revisit guidance in diffusion models from the perspective of variational inference…

This paper presents a novel reconstruction method that leverages Diffusion Models to protect machine learning classifiers against adversarial attacks, all without requiring any modifications to the classifiers themselves. The susceptibility…

This paper presents Diffusion Forcing, a new training paradigm where a diffusion model is trained to denoise a set of tokens with independent per-token noise levels. We apply Diffusion Forcing to sequence generative modeling by training a…

Diffusion models have emerged as a promising approach for generating high-quality, high-dimensional images. Nevertheless, these models are hindered by their high computational cost and slow inference, partly due to the quadratic…

Safety-critical scenarios are infrequent in natural driving environments but hold significant importance for the training and testing of autonomous driving systems. The prevailing approach involves generating safety-critical scenarios…

Current evaluation methods for autonomous driving prediction models rely heavily on simplistic metrics such as Average Displacement Error (ADE) and Final Displacement Error (FDE). While these metrics offer basic performance assessments,…

Targets search and detection encompasses a variety of decision problems such as coverage, surveillance, search, observing and pursuit-evasion along with others. In this paper we develop a multi-agent deep reinforcement learning (MADRL)…

Recent advances in video generation have spurred the development of world models capable of simulating 3D-consistent environments and interactions with static objects. However, a significant limitation remains in their ability to model…

We introduce a method for generating realistic pedestrian trajectories and full-body animations that can be controlled to meet user-defined goals. We draw on recent advances in guided diffusion modeling to achieve test-time controllability…

Generative modeling within constrained sets is essential for scientific and engineering applications involving physical, geometric, or safety requirements (e.g., molecular generation, robotics). We present a unified framework for…

We propose MADP, a novel diffusion-model-based approach for collaboration in decentralized robot swarms. MADP leverages diffusion models to generate samples from complex and high-dimensional action distributions that capture the…

In modern radar systems, target detection and parameter estimation face significant challenges when confronted with mainlobe jamming. This paper presents a Diffusion-based Model and Data Dual-driven (DMDD) approach to estimate and detect…

Recently, diffusion models have gained popularity and attention in trajectory optimization due to their capability of modeling multi-modal probability distributions. However, addressing nonlinear equality constraints, i.e, dynamic…

Accurately predicting 3D occupancy grids from visual inputs is critical for autonomous driving, but current discriminative methods struggle with noisy data, incomplete observations, and the complex structures inherent in 3D scenes. In this…

Modern diffusion-based image generative models have made significant progress and become promising to enrich training data for the object detection task. However, the generation quality and the controllability for complex scenes containing…

Safe swarm navigation in cluttered indoor environment requires long-horizon planning, reactive obstacle avoidance, and adaptive compliance. We propose ImpedanceDiffusion, a hierarchical framework that leverages image-conditioned…

Diffusion models have demonstrated significant promise in various generative tasks; however, they often struggle to satisfy challenging constraints. Our approach addresses this limitation by rethinking training-free loss-guided diffusion…