相关论文: CL-DiffPhyCon: Closed-loop Diffusion Control of Co…

Controlling the evolution of complex physical systems is a fundamental task across science and engineering. Classical techniques suffer from limited applicability or huge computational costs. On the other hand, recent deep learning and…

Controlling complex physics systems is important in diverse domains. While diffusion-based methods have demonstrated advantages over classical model-based approaches and myopic sequential learning methods in achieving global trajectory…

We present Diffuse-CLoC, a guided diffusion framework for physics-based look-ahead control that enables intuitive, steerable, and physically realistic motion generation. While existing kinematics motion generation with diffusion models…

Motion diffusion models and Reinforcement Learning (RL) based control for physics-based simulations have complementary strengths for human motion generation. The former is capable of generating a wide variety of motions, adhering to…

The application of deep learning for partial differential equation (PDE)-constrained control is gaining increasing attention. However, existing methods rarely consider safety requirements crucial in real-world applications. To address this…

Diffusion models have become popular for policy learning in robotics due to their ability to capture high-dimensional and multimodal distributions. However, diffusion policies are stochastic and typically trained offline, limiting their…

Diffusion-based policies have achieved remarkable results in robotic manipulation but often struggle to adapt rapidly in dynamic scenarios, leading to delayed responses or task failures. We present DCDP, a Dynamic Closed-Loop Diffusion…

Robots hold great promise for performing repetitive or hazardous tasks, but achieving human-like dexterity, especially in contact-rich and dynamic environments, remains challenging. Rigid robots, which rely on position or velocity control,…

Diffusion Policy has shown great performance in robotic manipulation tasks under stochastic perturbations, due to its ability to model multimodal action distributions. Nonetheless, its reliance on a computationally expensive reverse-time…

Simulation is critical for safety evaluation in autonomous driving, particularly in capturing complex interactive behaviors. However, generating realistic and controllable traffic scenarios in long-tail situations remains a significant…

Controllable diffusion generation often relies on various heuristics that are seemingly disconnected without a unified understanding. We bridge this gap with Diffusion Controller (DiffCon), a unified control-theoretic view that casts…

Generating natural and physically plausible character motion remains challenging, particularly for long-horizon control with diverse guidance signals. While prior work combines high-level diffusion-based motion planners with low-level…

We propose a novel approach based on Denoising Diffusion Probabilistic Models (DDPMs) to control nonlinear dynamical systems. DDPMs are the state-of-art of generative models that have achieved success in a wide variety of sampling tasks. In…

Diffusion models have recently become the de-facto approach for generative modeling in the 2D domain. However, extending diffusion models to 3D is challenging due to the difficulties in acquiring 3D ground truth data for training. On the…

This paper addresses the problem of generating dynamically admissible trajectories for control tasks using diffusion models, particularly in scenarios where the environment is complex and system dynamics are crucial for practical…

Recent advances in text-to-image generation with diffusion models present transformative capabilities in image quality. However, user controllability of the generated image, and fast adaptation to new tasks still remains an open challenge,…

Due to its training stability and strong expression, the diffusion model has attracted considerable attention in offline reinforcement learning. However, several challenges have also come with it: 1) The demand for a large number of…

Diffusion models have shown remarkable potential in planning and control tasks due to their ability to represent multimodal distributions over actions and trajectories. However, ensuring safety under constraints remains a critical challenge…

Modern video diffusion models excel at appearance synthesis but still struggle with physical consistency: objects drift, collisions lack realistic rebound, and material responses seldom match their underlying properties. We present PhyCo, a…

Evaluating the performance of autonomous vehicle planning algorithms necessitates simulating long-tail safety-critical traffic scenarios. However, traditional methods for generating such scenarios often fall short in terms of…