相关论文: Map2Traj: Street Map Piloted Zero-shot Trajectory …

Target localization is a critical task for mobile sensors and has many applications. However, generating informative trajectories for these sensors is a challenging research problem. A common method uses information maps that estimate the…

Robots in the real world need to perceive and move to goals in complex environments without collisions. Avoiding collisions is especially difficult when relying on sensor perception and when goals are among clutter. Diffusion policies and…

Dexterous grasp generation is a fundamental challenge in robotics, requiring both grasp stability and adaptability across diverse objects and tasks. Analytical methods ensure stable grasps but are inefficient and lack task adaptability,…

Automated creation of synthetic traffic scenarios is a key part of validating the safety of autonomous vehicles (AVs). In this paper, we propose Scenario Diffusion, a novel diffusion-based architecture for generating traffic scenarios that…

Accurate radio map (RM) construction is essential to enabling environment-aware and adaptive wireless communication. However, in future 6G scenarios characterized by high-speed network entities and fast-changing environments, it is very…

Network data analytics are now at the core of almost every networking solution. Nonetheless, limited access to networking data has been an enduring challenge due to many reasons including complexity of modern networks, commercial…

Diffusion trajectory distillation accelerates sampling by training a student model to approximate the multi-step denoising trajectories of a pretrained teacher model using far fewer steps. Despite strong empirical results, the trade-off…

Mobility datasets are fundamental for evaluating algorithms pertaining to geographic information systems and facilitating experimental reproducibility. But privacy implications restrict sharing such datasets, as even aggregated…

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…

Trajectory generation is an important task in movement studies; it circumvents the privacy, ethical, and technical challenges of collecting real trajectories from the target population. In particular, real trajectories in the wildlife…

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…

Human behavior has the nature of indeterminacy, which requires the pedestrian trajectory prediction system to model the multi-modality of future motion states. Unlike existing stochastic trajectory prediction methods which usually use a…

Much effort has been put into developing samplers with specific properties, such as producing blue noise, low-discrepancy, lattice or Poisson disk samples. These samplers can be slow if they rely on optimization processes, may rely on a…

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…

Future trajectories of neighboring traffic agents have a significant influence on the path planning and decision-making of autonomous vehicles. While trajectory forecasting is a well-studied field, research mainly focuses on snapshot-based…

Mobile robots frequently navigate on roadmaps, i.e., graphs where edges represent safe motions, in applications such as healthcare, hospitality, and warehouse automation. Often the environment is quasi-static, i.e., it is sufficient to…

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…

In this paper, we design distributed multi-modal localization approaches for Connected and Automated vehicles. We utilize information diffusion on graphs formed by moving vehicles, based on Adapt-then-Combine strategies combined with the…

Generative models such as diffusion models, excel at capturing high-dimensional distributions with diverse input modalities, e.g. robot trajectories, but are less effective at multi-step constraint reasoning. Task and Motion Planning (TAMP)…

A unifying graph theoretic framework for the modelling of metro transportation networks is proposed. This is achieved by first introducing a basic graph framework for the modelling of the London underground system from a diffusion law point…