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

In this paper, we introduce a novel approach to trajectory generation for autonomous driving, combining the strengths of Diffusion models and Transformers. First, we use the historical trajectory data for efficient preprocessing and…

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…

Diffusion models have been successfully adapted to text generation tasks by mapping the discrete text into the continuous space. However, there exist nonnegligible gaps between training and inference, owing to the absence of the forward…

Effective motion planning in high dimensional spaces is a long-standing open problem in robotics. One class of traditional motion planning algorithms corresponds to potential-based motion planning. An advantage of potential based motion…

Autonomous driving systems demand trajectory planners that not only model the inherent uncertainty of future motions but also respect complex temporal dependencies and underlying physical laws. While diffusion-based generative models excel…

Optimizing complex and high-dimensional black-box functions is ubiquitous in science and engineering fields. Unfortunately, the online evaluation of these functions is restricted due to time and safety constraints in most cases. In offline…

Recent advances in diffusion models have demonstrated their strong capabilities in generating high-fidelity samples from complex distributions through an iterative refinement process. Despite the empirical success of diffusion models in…

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…

Training diffusion models is always a computation-intensive task. In this paper, we introduce a novel speed-up method for diffusion model training, called, which is based on a closer look at time steps. Our key findings are: i) Time steps…

Traffic forecasting, a crucial application of spatio-temporal graph (STG) learning, has traditionally relied on deterministic models for accurate point estimations. Yet, these models fall short of quantifying future uncertainties. Recently,…

Accurately predicting 3D occupancy grids from visual inputs is critical for autonomous driving, but current discriminative methods struggle with noisy data, incomplete observations, and the complex structures inherent in 3D scenes. In this…

This paper proposes an image-based robot motion planning method using a one-step diffusion model. While the diffusion model allows for high-quality motion generation, its computational cost is too expensive to control a robot in real time.…

We introduce a method for generating realistic pedestrian trajectories and full-body animations that can be controlled to meet user-defined goals. We draw on recent advances in guided diffusion modeling to achieve test-time controllability…

This paper presents a learning-based extension to a Circular Field (CF)-based motion planner for efficient, collision-free trajectory generation in cluttered environments. The proposed approach overcomes the limitations of hand-tuned force…

Recent advancements in diffusion models have revolutionized generative modeling. However, the impressive and vivid outputs they produce often come at the cost of significant model scaling and increased computational demands. Consequently,…

Diffusion models produce high quality images but inference is costly due to many denoising steps and heavy matrix operations. We present DiffPro, a post-training, hardware-faithful framework that works with the exact integer kernels used in…

In recent years, motion generative models have undergone significant advancement, yet pose challenges in aligning with downstream objectives. Recent studies have shown that using differentiable rewards to directly align the preference of…

While originally designed for image generation, diffusion models have recently shown to provide excellent pretrained feature representations for semantic segmentation. Intrigued by this result, we set out to explore how well…

Prompt learning has demonstrated promising results in fine-tuning pre-trained multimodal models. However, the performance improvement is limited when applied to more complex and fine-grained tasks. The reason is that most existing methods…

Imitation learning, particularly Diffusion Policies based methods, has recently gained significant traction in embodied AI as a powerful approach to action policy generation. These models efficiently generate action policies by learning to…