相关论文: ActionDiffusion: An Action-aware Diffusion Model f…

One of the bottlenecks in robotic intelligence is the instability of neural network models, which, unlike control models, lack a well-defined convergence domain and stability. This leads to risks when applying intelligence in the physical…

Diffusion models have garnered significant attention since they can effectively learn complex multivariate Gaussian distributions, resulting in diverse, high-quality outcomes. They introduce Gaussian noise into training data and reconstruct…

We propose an adaptive diffusion mechanism to optimize a global cost function in a distributed manner over a network of nodes. The cost function is assumed to consist of a collection of individual components. Diffusion adaptation allows the…

Accurate trajectory prediction and motion planning are crucial for autonomous driving systems to navigate safely in complex, interactive environments characterized by multimodal uncertainties. However, current generation-then-evaluation…

A diffusion probabilistic model (DPM), which constructs a forward diffusion process by gradually adding noise to data points and learns the reverse denoising process to generate new samples, has been shown to handle complex data…

Recent work has shown diffusion models are an effective approach to learning the multimodal distributions arising from demonstration data in behavior cloning. However, a drawback of this approach is the need to learn a denoising function,…

Diffusion models achieve state-of-the-art video generation quality, but their inference remains expensive due to the large number of sequential denoising steps. This has motivated a growing line of research on accelerating diffusion…

Generating visual instructions in a given context is essential for developing interactive world simulators. While prior works address this problem through either text-guided image manipulation or video prediction, these tasks are typically…

A unified video and action model holds significant promise for robotics, where videos provide rich scene information for action prediction, and actions provide dynamics information for video prediction. However, effectively combining video…

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…

Denoising diffusion models have found applications in image segmentation by generating segmented masks conditioned on images. Existing studies predominantly focus on adjusting model architecture or improving inference, such as test-time…

Imitation learning has emerged as a promising approach towards building generalist robots. However, scaling imitation learning for large robot foundation models remains challenging due to its reliance on high-quality expert demonstrations.…

Dynamical behaviors of complex interacting systems, including brain activities, financial price movements, and physical collective phenomena, are associated with underlying interactions between the system's components. The issue of…

Diffusion models excel at modeling complex and multimodal trajectory distributions for decision-making and control. Reward-gradient guided denoising has been recently proposed to generate trajectories that maximize both a differentiable…

Diffusion models have become popular for policy learning in robotics due to their ability to capture high-dimensional and multimodal distributions. However, diffusion policies are stochastic and typically trained offline, limiting their…

This tutorial provides an in-depth guide on inference-time guidance and alignment methods for optimizing downstream reward functions in diffusion models. While diffusion models are renowned for their generative modeling capabilities,…

Diffusion models have shown exceptional scaling properties in the image synthesis domain, and initial attempts have shown similar benefits for applying diffusion to unconditional text synthesis. Denoising diffusion models attempt to…

Audio-visual saliency prediction can draw support from diverse modality complements, but further performance enhancement is still challenged by customized architectures as well as task-specific loss functions. In recent studies, denoising…

We introduce MusicInfuser, an approach that aligns pre-trained text-to-video diffusion models to generate high-quality dance videos synchronized with specified music tracks. Rather than training a multimodal audio-video or audio-motion…

Offline decision-making via diffusion models often produces trajectories that are misaligned with system dynamics, limiting their reliability for control. We propose Model Predictive Diffuser (MPDiffuser), a compositional diffusion…