相关论文: PRESTO: Fast Motion Planning Using Diffusion Model…

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…

Multi-modal trajectory generation is essential for safe autonomous driving, yet existing diffusion-based planners suffer from high inference latency due to iterative neural function evaluations. This paper presents MISTY (Mixer-based…

We present FlightDiffusion, a diffusion-model-based framework for training autonomous drones from first-person view (FPV) video. Our model generates realistic video sequences from a single frame, enriched with corresponding action spaces to…

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,…

Diffusion models have demonstrated remarkable success in image and video generation, yet their practical deployment remains hindered by the substantial computational overhead of multi-step iterative sampling. Among acceleration strategies,…

In this paper, we present a novel trajectory prediction model for autonomous driving, combining a Characterized Diffusion Module and a Spatial-Temporal Interaction Network to address the challenges posed by dynamic and heterogeneous traffic…

Diffusion and flow-based generative models have achieved remarkable success in domains such as image synthesis, video generation, and natural language modeling. In this work, we extend these advances to weight space learning by leveraging…

We present a reward-predictive, model-based deep learning method featuring trajectory-constrained visual attention for local planning in visual navigation tasks. Our method learns to place visual attention at locations in latent image space…

Trajectories are nowadays valuable information for a wide range of applications. However they are also inherently sensitive, as they contain highly personal information about individuals. Facing this challenge, synthesizing mobility…

This paper demonstrates that collision detection-intensive applications such as robotic motion planning may be accelerated by performing collision checks with a machine learning model. We propose Fastron, a learning-based algorithm to model…

Recent progress in imitation learning has been enabled by policy architectures that scale to complex visuomotor tasks, multimodal distributions, and large datasets. However, these methods often rely on learning from large amount of expert…

Controllable layout generation aims at synthesizing plausible arrangement of element bounding boxes with optional constraints, such as type or position of a specific element. In this work, we try to solve a broad range of layout generation…

Reinforcement Learning (RL)-based motion planning has recently shown the potential to outperform traditional approaches from autonomous navigation to robot manipulation. In this work, we focus on a motion planning task for an evasive target…

The video composition task aims to integrate specified foregrounds and backgrounds from different videos into a harmonious composite. Current approaches, predominantly trained on videos with adjusted foreground color and lighting, struggle…

Diffusion models (DMs) are a powerful generative framework that have attracted significant attention in recent years. However, the high computational cost of training DMs limits their practical applications. In this paper, we start with a…

Robots equipped with rich sensor suites can localize reliably in partially-observable environments, but powering every sensor continuously is wasteful and often infeasible. Belief-space planners address this by propagating pose-belief…

Diffusion-based robot navigation policies trained on large-scale imitation learning datasets, can generate multi-modal trajectories directly from the robot's visual observations, bypassing the traditional localization-mapping-planning…

Efficient navigation in unknown and dynamic environments is crucial for expanding the application domain of mobile robots. The core challenge stems from the nonavailability of a feasible global path for guiding optimization-based local…

Predicting the future motion of vehicles has been studied using various techniques, including stochastic policies, generative models, and regression. Recent work has shown that classification over a trajectory set, which approximates…

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…