相关论文: Diffusion-Informed Probabilistic Contact Search fo…

Multi-interest candidate matching plays a pivotal role in personalized recommender systems, as it captures diverse user interests from their historical behaviors. Most existing methods utilize attention mechanisms to generate interest…

Diffusion models can be used as a motion planner by sampling from a distribution of possible futures. However, the samples may not satisfy hard constraints that exist only implicitly in the training data, e.g., avoiding falls or not…

Information gathering in large-scale or time-critical scenarios (e.g., environmental monitoring, search and rescue) requires broad coverage within limited time budgets, motivating the use of multi-agent systems. These scenarios are commonly…

3D human pose estimation from 2D images is a challenging problem due to depth ambiguity and occlusion. Because of these challenges the task is underdetermined, where there exists multiple -- possibly infinite -- poses that are plausible…

Synthesizing semantic-aware, long-horizon, human-object interaction is critical to simulate realistic human behaviors. In this work, we address the challenging problem of generating synchronized object motion and human motion guided by…

Diffusion models exhibit excellent sample quality, but existing guidance methods often require additional model training or are limited to specific tasks. We revisit guidance in diffusion models from the perspective of variational inference…

Route planning for navigation under partial observability plays a crucial role in modern robotics and autonomous driving. Existing route planning approaches can be categorized into two main classes: traditional autoregressive and…

Generic image inpainting aims to complete a corrupted image by borrowing surrounding information, which barely generates novel content. By contrast, multi-modal inpainting provides more flexible and useful controls on the inpainted content,…

Diffusion Policy (DP) enables robots to learn complex behaviors by imitating expert demonstrations through action diffusion. However, in practical applications, hardware limitations often degrade data quality, while real-time constraints…

Diffusion models have recently emerged as powerful tools for robot motion planning by capturing the multi-modal distribution of feasible trajectories. However, their extension to multi-robot settings with flexible, language-conditioned task…

Autonomous learning of object manipulation skills can enable robots to acquire rich behavioral repertoires that scale to the variety of objects found in the real world. However, current motion skill learning methods typically restrict the…

We propose Diffusion Model Predictive Control (D-MPC), a novel MPC approach that learns a multi-step action proposal and a multi-step dynamics model, both using diffusion models, and combines them for use in online MPC. On the popular D4RL…

Diffusion models have been used in cosmological applications as a generative model for fast simulations and to reconstruct underlying cosmological fields or astrophysical images from noisy data. These two tasks are often treated as…

This paper proposes Distributed Model Predictive Covariance Steering (DiMPCS) for multi-agent control under stochastic uncertainty. The scope of our approach is to blend covariance steering theory, distributed optimization and model…

Generating the motion of orchestral conductors from a given piece of symphony music is a challenging task since it requires a model to learn semantic music features and capture the underlying distribution of real conducting motion. Prior…

Active multi-target tracking requires a mobile robot to balance exploration for undetected targets with exploitation of uncertain tracked ones. Diffusion policies have emerged as a powerful approach for capturing diverse behavioral…

Understanding transition pathways between two meta-stable states of a molecular system is crucial to advance drug discovery and material design. However, unbiased molecular dynamics (MD) simulations are computationally infeasible because of…

Diffusion models offer stable training and state-of-the-art performance for deep generative modeling tasks. Here, we consider their use in the context of multivariate subsurface modeling and probabilistic inversion. We first demonstrate…

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…

Recent work has demonstrated the potential of diffusion models in robot bimanual skill learning. However, existing methods ignore the learning of posture-dependent task features, which are crucial for adapting dual-arm configurations to…