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

Predicting pedestrian motion trajectories is critical for the path planning and motion control of autonomous vehicles. Recent diffusion-based models have shown promising results in capturing the inherent stochasticity of pedestrian behavior…

Visual traversability estimation is critical for autonomous navigation, but existing VLM-based methods rely on hand-crafted prompts, generalize poorly across embodiments, and output only traversability maps, leaving trajectory generation to…

Recent advancements in diffusion models have made fine-tuning text-to-image models for personalization increasingly accessible, but have also raised significant concerns regarding unauthorized data usage and privacy infringement. Current…

Routing problems are optimization problems that consider a set of goals in a graph to be visited by a vehicle (or a fleet of them) in an optimal way, while numerous constraints have to be satisfied. We present a solution based on…

Diffusion policies (DP) have demonstrated significant potential in visual navigation by capturing diverse multi-modal trajectory distributions. However, standard imitation learning (IL), which most DP methods rely on for training, often…

The Travelling Salesman Problem (TSP) is a classical NP-hard problem and has broad applications in many disciplines and industries. In a large scale location-based services system, users issue TSP queries concurrently, where a TSP query is…

Diffusion models have recently emerged as a powerful approach for trajectory planning. However, their inherently non-sequential nature limits their effectiveness in long-horizon reasoning tasks at test time. The recently proposed Monte…

Many real-world problems can be formulated as a constrained Traveling Salesman Problem (TSP). However, the constraints are always complex and numerous, making the TSPs challenging to solve. When the number of complicated constraints grows,…

Recently, the diffusion model has emerged as a powerful generative technique for robotic policy learning, capable of modeling multi-mode action distributions. Leveraging its capability for end-to-end autonomous driving is a promising…

Mobile data collection using controllable sinks is an effective approach to improve energy efficiency and data freshness in densely deployed wireless sensor networks (WSNs). However, existing path-planning methods are often heuristic-driven…

We propose a manager-worker framework based on deep reinforcement learning to tackle a hard yet nontrivial variant of Travelling Salesman Problem (TSP), \ie~multiple-vehicle TSP with time window and rejections (mTSPTWR), where customers who…

Autonomous driving technology has seen significant advancements, but existing models often fail to fully capture the complexity of multi-agent environments, where interactions between dynamic agents are critical. To address this, we propose…

Motivated by the problem of pursuit-evasion, we present a motion planning framework that combines energy-based diffusion models with artificial potential fields for robust real time trajectory generation in complex environments. Our…

Safe and successful deployment of robots requires not only the ability to generate complex plans but also the capacity to frequently replan and correct execution errors. This paper addresses the challenge of long-horizon trajectory planning…

Denoising diffusion probabilistic models are currently becoming the leading paradigm of generative modeling for many important data modalities. Being the most prevalent in the computer vision community, diffusion models have also recently…

Addressing real-world optimization problems becomes particularly challenging when analytic objective functions or constraints are unavailable. While numerous studies have addressed the issue of unknown objectives, limited research has…

Diffusion models have emerged as highly effective techniques for inpainting, however, they remain constrained by slow sampling rates. While recent advances have enhanced generation quality, they have also increased sampling time, thereby…

Learning to navigate in dynamic and complex open-world environments is a critical yet challenging capability for autonomous robots. Existing approaches often rely on cascaded modular frameworks, which require extensive hyperparameter tuning…

Existing neural constructive solvers for routing problems have predominantly employed transformer architectures, conceptualizing the route construction as a set-to-sequence learning task. However, their efficacy has primarily been…

Diffusion models, as a class of deep generative models, have recently emerged as powerful tools for robot skills by enabling stable training with reliable convergence. In this paper, we present an end-to-end framework for generating long,…