相关论文: Versatile Behavior Diffusion for Generalized Traff…

Acting in human environments is a crucial capability for general-purpose robots, necessitating a robust understanding of natural language and its application to physical tasks. This paper seeks to harness the capabilities of diffusion…

Diffusion Policy (DP) enables robots to learn complex behaviors by imitating expert demonstrations through action diffusion. However, in practical applications, hardware limitations often degrade data quality, while real-time constraints…

Reliable anticipation of traffic accidents is essential for advancing autonomous driving systems. However, this objective is limited by two fundamental challenges: the scarcity of diverse, high-quality training data and the frequent absence…

Dual-arm cooperative manipulation holds great promise for tackling complex real-world tasks that demand seamless coordination and adaptive dynamics. Despite substantial progress in learning-based motion planning, most approaches struggle to…

Recent developments in Video Diffusion Models (VDMs) have demonstrated remarkable capability to generate high-quality video content. Nonetheless, the potential of VDMs for creating transparent videos remains largely uncharted. In this…

End-to-end learning has emerged as a transformative paradigm in autonomous driving. However, the inherently multimodal nature of driving behaviors and the generalization challenges in long-tail scenarios remain critical obstacles to robust…

Generating high-quality Scalable Vector Graphics (SVGs) from text remains a significant challenge. Existing LLM-based models that generate SVG code as a flat token sequence struggle with poor structural understanding and error accumulation,…

Generative diffusion models for end-to-end autonomous driving often suffer from mode collapse, tending to generate conservative and homogeneous behaviors. While DiffusionDrive employs predefined anchors representing different driving…

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, diffusion models have demonstrated remarkable potential across diverse domains, from vision generation to language modeling. Transferring its generative capabilities to modern end-to-end autonomous driving systems has also…

This paper addresses the problem of generating dynamically admissible trajectories for control tasks using diffusion models, particularly in scenarios where the environment is complex and system dynamics are crucial for practical…

End-to-end autonomous driving systems based on vision-language-action (VLA) models integrate multimodal sensor inputs and language instructions to generate planning and control signals. While autoregressive large language models and…

Diffusion models have revolutionized image generation, and their extension to video generation has shown promise. However, current video diffusion models~(VDMs) rely on a scalar timestep variable applied at the clip level, which limits…

We describe a robust planning method for autonomous driving that mixes normal and adversarial agent predictions output by a diffusion model trained for motion prediction. We first train a diffusion model to learn an unbiased distribution of…

In recent years, diffusion models have made remarkable strides in text-to-video generation, sparking a quest for enhanced control over video outputs to more accurately reflect user intentions. Traditional efforts predominantly focus on…

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…

Automated 3D scene generation is pivotal for applications spanning virtual reality, digital content creation, and Embodied AI. While computer graphics prioritizes aesthetic layouts, vision and robotics demand scenes that mirror real-world…

For an autonomous vehicle to plan a path in its environment, it must be able to accurately forecast the trajectory of all dynamic objects in its proximity. While many traditional methods encode observations in the scene to solve this…

Traditional 3D content creation tools empower users to bring their imagination to life by giving them direct control over a scene's geometry, appearance, motion, and camera path. Creating computer-generated videos, however, is a tedious…

Most end-to-end autonomous driving methods rely on imitation learning from single expert demonstrations, often leading to conservative and homogeneous behaviors that limit generalization in complex real-world scenarios. In this work, we…