相关论文: ActionDiffusion: An Action-aware Diffusion Model f…
We present PoseDiff, a conditional diffusion model that unifies robot state estimation and control within a single framework. At its core, PoseDiff maps raw visual observations into structured robot states-such as 3D keypoints or joint…
Diffusion models have gained attention for their ability to represent complex distributions and incorporate uncertainty, making them ideal for robust predictions in the presence of noisy or incomplete data. In this study, we develop and…
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…
Although action recognition systems can achieve top performance when evaluated on in-distribution test points, they are vulnerable to unanticipated distribution shifts in test data. However, test-time adaptation of video action recognition…
Training diffusion models is always a computation-intensive task. In this paper, we introduce a novel speed-up method for diffusion model training, called, which is based on a closer look at time steps. Our key findings are: i) Time steps…
Recently, foundational diffusion models have attracted considerable attention in image compression tasks, whereas their application to video compression remains largely unexplored. In this article, we introduce DiffVC, a diffusion-based…
Diffusion models, a family of generative models based on deep learning, have become increasingly prominent in cutting-edge machine learning research. With a distinguished performance in generating samples that resemble the observed data,…
World models, which predict future transitions from past observation and action sequences, have shown great promise for improving data efficiency in sequential decision-making. However, existing world models often require extensive…
In recent years, large-scale pre-trained diffusion models have demonstrated their outstanding capabilities in image and video generation tasks. However, existing models tend to produce visual objects commonly found in the training dataset,…
Recent work indicates that video recognition models are vulnerable to adversarial examples, posing a serious security risk to downstream applications. However, current research has primarily focused on adversarial attacks, with limited work…
Temporal modelling is the key for efficient video action recognition. While understanding temporal information can improve recognition accuracy for dynamic actions, removing temporal redundancy and reusing past features can significantly…
We present MotionDiffuser, a diffusion based representation for the joint distribution of future trajectories over multiple agents. Such representation has several key advantages: first, our model learns a highly multimodal distribution…
We propose a novel hierarchical diffusion planner that embeds task and motion structure directly into the noise model. Unlike standard diffusion-based planners that rely on zero-mean, isotropic Gaussian corruption, we introduce…
Imitation learning with diffusion models has advanced robotic control by capturing the multi-modal action distributions. However, existing methods typically treat observations only as high-level conditions to the denoising network, rather…
We introduce the Cross Human Motion Diffusion Model (CrossDiff), a novel approach for generating high-quality human motion based on textual descriptions. Our method integrates 3D and 2D information using a shared transformer network within…
Imitation learning empowers artificial agents to mimic behavior by learning from demonstrations. Recently, diffusion models, which have the ability to model high-dimensional and multimodal distributions, have shown impressive performance on…
We propose a novel method for temporally pooling frames in a video for the task of human action recognition. The method is motivated by the observation that there are only a small number of frames which, together, contain sufficient…
Action recognition is an important research topic in computer vision. It is the basic work for visual understanding and has been applied in many fields. Since human actions can vary in different environments, it is difficult to infer…
Diffusion-based video generation has achieved significant progress, yet generating multiple actions that occur sequentially remains a formidable task. Directly generating a video with sequential actions can be extremely challenging due to…
We propose CLAD -- a Constrained Latent Action Diffusion model for vision-language procedure planning in instructional videos. Procedure planning is the challenging task of predicting intermediate actions given a visual observation of a…