相关论文: CGD: Constraint-Guided Diffusion Policies for UAV …

The diffusion model presents a powerful ability to capture the entire (conditional) data distribution. However, due to the lack of sufficient training and data to learn to cover low-probability areas, the model will be penalized for failing…

Multi-Robot Motion Planning (MRMP) involves generating collision-free trajectories for multiple robots operating in a shared continuous workspace. While discrete multi-agent path finding (MAPF) methods are broadly adopted due to their…

Generative models have emerged as powerful tools for planning, with compositional approaches offering particular promise for modeling long-horizon task distributions by composing together local, modular generative models. This compositional…

Convolutional Neural Networks (CNN) have been regarded as a powerful class of models for visual recognition problems. Nevertheless, the convolutional filters in these networks are local operations while ignoring the large-range dependency.…

Effective multi-user delay-constrained scheduling is crucial in various real-world applications, such as instant messaging, live streaming, and data center management. In these scenarios, schedulers must make real-time decisions to satisfy…

Diffusion models have demonstrated empirical successes in various applications and can be adapted to task-specific needs via guidance. This paper studies a form of gradient guidance for adapting a pre-trained diffusion model towards…

Line-search methods are commonly used to solve optimization problems. The simplest line search method is steepest descent where one always moves in the direction of the negative gradient. Newton's method on the other hand is a second-order…

Diffusion models have recently emerged as effective generative frameworks for trajectory optimization, capable of producing high-quality and diverse solutions. However, training these models in a purely data-driven manner without explicit…

Structural topology optimization, which aims to find the optimal physical structure that maximizes mechanical performance, is vital in engineering design applications in aerospace, mechanical, and civil engineering. Generative adversarial…

While diffusion-based models have shown remarkable generative capabilities in static settings, their extension to continual learning (CL) scenarios remains fundamentally constrained by Generative Catastrophic Forgetting (GCF). We observe…

Recent advances in diffusion models have demonstrated their strong capabilities in generating high-fidelity samples from complex distributions through an iterative refinement process. Despite the empirical success of diffusion models in…

Diffusion-based robot navigation policies trained on large-scale imitation learning datasets, can generate multi-modal trajectories directly from the robot's visual observations, bypassing the traditional localization-mapping-planning…

Route planning for navigation under partial observability plays a crucial role in modern robotics and autonomous driving. Existing route planning approaches can be categorized into two main classes: traditional autoregressive and…

Diffusion-based planners have shown strong performance in short-horizon tasks but often fail in complex, long-horizon settings. We trace the failure to loose coupling between high-level (HL) sub-goal selection and low-level (LL) trajectory…

Chance constrained programming (CCP) is a powerful framework for addressing optimization problems under uncertainty. In this paper, we introduce a novel Gradient-Guided Diffusion-based Optimization framework, termed GGDOpt, which tackles…

Classifier-Free Guidance (CFG) is a widely used mechanism for controlling diffusion-based generative models, yet its guidance scale is typically treated as a fixed hyperparameter throughout generation. This static design yields a suboptimal…

Guidance techniques are simple yet effective for improving conditional generation in diffusion models. Albeit their empirical success, the practical implementation of guidance diverges significantly from its theoretical motivation. In this…

Graph Neural Networks (GNNs) unlock new ways of learning from graph-structured data, proving highly effective in capturing complex relationships and patterns. Federated GNNs (FGNNs) have emerged as a prominent distributed learning paradigm…

Unmanned Aerial Vehicles (UAVs) have attracted great interest in the last few years owing to their ability to cover large areas and access difficult and hazardous target zones, which is not the case of traditional systems relying on direct…

Machine learning has demonstrated remarkable promise for solving the trajectory generation problem and in paving the way for online use of trajectory optimization for resource-constrained spacecraft. However, a key shortcoming in current…