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

Low altitude uncrewed aerial vehicles (UAVs) are expected to facilitate the development of aerial-ground integrated intelligent transportation systems and unlocking the potential of the emerging low-altitude economy. However, several…

Planning with pretrained diffusion models has emerged as a promising approach for solving test-time guided control problems. Standard gradient guidance typically performs optimally under convex, differentiable reward landscapes. However, it…

Path planning for a robotic system in high-dimensional cluttered environments needs to be efficient, safe, and adaptable for different environments and hardware. Conventional methods face high computation time and require extensive…

Recent advances in rule-based reinforcement learning (RL) have significantly improved the reasoning capability of language models (LMs) with rule-based rewards. However, existing RL methods -- such as GRPO, REINFORCE++, and RLOO -- often…

Model-based reinforcement learning methods often use learning only for the purpose of estimating an approximate dynamics model, offloading the rest of the decision-making work to classical trajectory optimizers. While conceptually simple,…

Computational Fluid Dynamics (CFD) simulations are used for many air flow simulations including road vehicle aerodynamics. Numerical diffusion occurs when local flow direction is not aligned with the mesh lines and when there is a non-zero…

In the digital age, advanced image editing tools pose a serious threat to the integrity of visual content, making image forgery detection and localization a key research focus. Most existing Image Manipulation Localization (IML) methods…

The Projected Gradient Descent (PGD) algorithm is a widely used and efficient first-order method for solving constrained optimization problems due to its simplicity and scalability in large design spaces. Building on recent advancements in…

Offline black-box optimization aims to maximize a black-box function using an offline dataset of designs and their measured properties. Two main approaches have emerged: the forward approach, which learns a mapping from input to its value,…

Most of the existing algorithms for traffic speed forecasting split spatial features and temporal features to independent modules, and then associate information from both dimensions. However, features from spatial and temporal dimensions…

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…

This paper introduces a diffusion-based planner for leader--follower formation control in cluttered environments. The diffusion policy is used to generate the trajectory of the midpoint of two leaders as a rigid bar in the plane, thereby…

In unstructured environments, obstacles are diverse and lack lane markings, making trajectory planning for intelligent vehicles a challenging task. Traditional trajectory planning methods typically involve multiple stages, including path…

Imitation learning-based visuomotor policies excel at manipulation tasks but often produce suboptimal action trajectories compared to model-based methods. Directly mapping camera data to actions via neural networks can result in jerky…

Trajectory generation for mobile robots in unstructured environments faces a critical dilemma: balancing kinematic smoothness for safe execution with terminal precision for fine-grained tasks. Existing generative planners often struggle…

Learning-based planners generate natural human-like driving behaviors by learning to reason about nuanced interactions from data, overcoming the rigid behaviors that arise from rule-based planners. Nonetheless, data-driven approaches often…

Offline safe reinforcement learning often requires policies to adapt at deployment time to safety budgets that vary across episodes or change within a single episode. While diffusion-based planners enable flexible trajectory generation,…

Diffusion models have emerged as powerful generative models for graph generation, yet their use for conditional graph generation remains a fundamental challenge. In particular, guiding diffusion models on graphs under arbitrary reward…

Imitation learning, particularly Diffusion Policies based methods, has recently gained significant traction in embodied AI as a powerful approach to action policy generation. These models efficiently generate action policies by learning to…

Numerous diffusion model (DM)-based methods have been proposed for solving inverse imaging problems. Among these, a recent line of work has demonstrated strong performance by formulating sampling as an optimization procedure that enforces…