相关论文: TSPDiffuser: Diffusion Models as Learned Samplers …

Diffusion planning is a promising method for learning high-performance policies from offline data. To avoid the impact of discrepancies between planning and reality on performance, previous works generate new plans at each time step.…

Autonomous driving in complex traffic requires planners that generalize beyond hand-crafted rules, motivating data-driven approaches that learn behavior from expert demonstrations. Diffusion-based trajectory planners have recently shown…

Diffusion models have demonstrated strong potential for robotic trajectory planning. However, generating coherent trajectories from high-level instructions remains challenging, especially for long-range composition tasks requiring multiple…

Road user trajectory prediction in dynamic environments is a challenging but crucial task for various applications, such as autonomous driving. One of the main challenges in this domain is the multimodal nature of future trajectories…

The conditional diffusion model has been demonstrated as an efficient tool for learning robot policies, owing to its advancement to accurately model the conditional distribution of policies. The intricate nature of real-world scenarios,…

Motion planning in dynamic urban environments requires balancing immediate safety with long-term goals. While diffusion models effectively capture multi-modal decision-making, existing approaches treat trajectories as monolithic entities,…

In this work, we present DiPPeR, a novel and fast 2D path planning framework for quadrupedal locomotion, leveraging diffusion-driven techniques. Our contributions include a scalable dataset generator for map images and corresponding…

Trajectory prediction and planning are essential for autonomous vehicles to navigate safely and efficiently in dynamic environments. Traditional approaches often treat them separately, limiting the ability for interactive planning. While…

The Travelling Salesman Problem (TSP) is a classical combinatorial optimisation problem. Deep learning has been successfully extended to meta-learning, where previous solving efforts assist in learning how to optimise future optimisation…

With the proliferation of location-aware devices, large amount of trajectories have been generated when agents such as people, vehicles and goods flow around the urban environment. These raw trajectories, typically collected from various…

Many of today's data is time-series data originating from various sources, such as sensors, transaction systems, or production systems. Major challenges with such data include privacy and business sensitivity. Generative time-series models…

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 Parallelised Diffeomorphic Sampling-based Motion Planning (PDMP). PDMP is a novel parallelised framework that uses bijective and differentiable mappings, or diffeomorphisms, to transform sampling distributions of sampling-based…

This study explores the integration of Blackout Diffusion into the DIFUSCO framework for combinatorial optimization, specifically targeting the Traveling Salesman Problem (TSP). Inspired by the success of discrete-time diffusion models…

Diffusion models have demonstrated highly-expressive generative capabilities in vision and NLP. Recent studies in reinforcement learning (RL) have shown that diffusion models are also powerful in modeling complex policies or trajectories in…

Diffusion model-based approaches have shown promise in data-driven planning, but there are no safety guarantees, thus making it hard to be applied for safety-critical applications. To address these challenges, we propose a new method,…

Diffusion models can be used as a motion planner by sampling from a distribution of possible futures. However, the samples may not satisfy hard constraints that exist only implicitly in the training data, e.g., avoiding falls or not…

Safe swarm navigation in cluttered indoor environment requires long-horizon planning, reactive obstacle avoidance, and adaptive compliance. We propose ImpedanceDiffusion, a hierarchical framework that leverages image-conditioned…

Various neural network models have been proposed to tackle combinatorial optimization problems such as the travelling salesman problem (TSP). Existing learning-based TSP methods adopt a simple setting that the training and testing data are…

Map matching for sparse trajectories is a fundamental problem for many trajectory-based applications, e.g., traffic scheduling and traffic flow analysis. Existing methods for map matching are generally based on Hidden Markov Model (HMM) or…