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

In recent years, there has been a rapid development of spatio-temporal prediction techniques in response to the increasing demands of traffic management and travel planning. While advanced end-to-end models have achieved notable success in…

In this work, a set of motion primitives is defined for use in an energy-aware motion planning problem. The motion primitives are defined as sequences of control inputs to a simplified four-DOF dynamics model and are used to replace the…

We develop a diffusion-based approach for various document layout sequence generation. Layout sequences specify the contents of a document design in an explicit format. Our novel diffusion-based approach works in the sequence domain rather…

While diffusion models can successfully generate data and make predictions, they are predominantly designed for static images. We propose an approach for efficiently training diffusion models for probabilistic spatiotemporal forecasting,…

The computational intensity of detector simulation and event reconstruction poses a significant difficulty for data analysis in collider experiments. This challenge inspires the continued development of machine learning techniques to serve…

Diffusion models have emerged as a widely utilized and successful methodology in human motion synthesis. Task-oriented diffusion models have significantly advanced action-to-motion, text-to-motion, and audio-to-motion applications. In this…

Diffusion models have emerged as the mainstream approach for visual generation. However, these models typically suffer from sample inefficiency and high training costs. Consequently, methods for efficient finetuning, inference and…

Accurate trajectory prediction and motion planning are crucial for autonomous driving systems to navigate safely in complex, interactive environments characterized by multimodal uncertainties. However, current generation-then-evaluation…

Diffusion models have recently shown significant potential in solving decision-making problems, particularly in generating behavior plans -- also known as diffusion planning. While numerous studies have demonstrated the impressive…

Diffusion models have achieved remarkable success in image and video generation. In this work, we demonstrate that diffusion models can also \textit{generate high-performing neural network parameters}. Our approach is simple, utilizing an…

Effective trajectory stitching for long-horizon planning is a significant challenge in robotic decision-making. While diffusion models have shown promise in planning, they are limited to solving tasks similar to those seen in their training…

We describe a robust planning method for autonomous driving that mixes normal and adversarial agent predictions output by a diffusion model trained for motion prediction. We first train a diffusion model to learn an unbiased distribution of…

Long-range human movement generation remains a central challenge in computer vision and graphics. Generating coherent transitions across semantically distinct motion domains remains largely unexplored. This capability is particularly…

Preference learning has garnered extensive attention as an effective technique for aligning diffusion models with human preferences in visual generation. However, existing alignment approaches such as Diffusion-DPO suffer from two…

Diffusion models are renowned for their generative capabilities, yet their pretraining processes exhibit distinct phases of learning speed that have been entirely overlooked in prior post-training acceleration efforts in the community. In…

Diffusion models have achieved remarkable progress in the field of image generation due to their outstanding capabilities. However, these models require substantial computing resources because of the multi-step denoising process during…

Existing text-to-image diffusion models, while excelling at subject synthesis, exhibit a persistent foreground bias that treats the background as a passive and under-optimized byproduct. This imbalance compromises global scene coherence and…

Swarm robotic trajectory planning faces challenges in computational efficiency, scalability, and safety, particularly in complex, obstacle-dense environments. To address these issues, we propose SwarmDiff, a hierarchical and scalable…

Mobile robot navigation in dynamic environments with pedestrian traffic is a key challenge in the development of autonomous mobile service robots. Recently, deep reinforcement learning-based methods have been actively studied and have…

Search-based planning with motion primitives is a powerful motion planning technique that can provide dynamic feasibility, optimality, and real-time computation times on size, weight, and power-constrained platforms in unstructured…