相关论文: AdvDiffuser: Generating Adversarial Safety-Critica…

Generative models have advanced significantly in realistic image synthesis, with diffusion models excelling in quality and stability. Recent multi-view diffusion models improve 3D-aware street view generation, but they struggle to produce…

Recent advancements in Language Models (LMs) have demonstrated strong semantic reasoning capabilities, enabling their application in high-level decision-making for autonomous driving (AD). However, LMs operate over discrete token spaces and…

Deep learning (DL)-based Network Intrusion Detection System (NIDS) has demonstrated great promise in detecting malicious network traffic. However, they face significant security risks due to their vulnerability to adversarial examples…

Visually-aware recommender systems have found widespread application in domains where visual elements significantly contribute to the inference of users' potential preferences. While the incorporation of visual information holds the promise…

Diffusion models have recently emerged as effective generative frameworks for trajectory optimization, capable of producing high-quality and diverse solutions. However, training these models in a purely data-driven manner without explicit…

Safety validation of autonomous driving systems requires high-risk scenario coverage, clear collision semantics, executable trajectories, and attributable multi-vehicle interactions. Existing safety-critical scenario generation methods…

Simulation-based testing is widely used to assess the reliability of Autonomous Driving Systems (ADS), but its effectiveness is limited by the operational design domain (ODD) conditions available in such simulators. To address this…

We propose Context Diffusion, a diffusion-based framework that enables image generation models to learn from visual examples presented in context. Recent work tackles such in-context learning for image generation, where a query image is…

Realistic scene-level multi-agent motion simulations are crucial for developing and evaluating self-driving algorithms. However, most existing works focus on generating trajectories for a certain single agent type, and typically ignore the…

Class-conditional image generation using generative adversarial networks (GANs) has been investigated through various techniques; however, it continues to face challenges such as mode collapse, training instability, and low-quality output…

Many existing adversarial attacks generate $L_p$-norm perturbations on image RGB space. Despite some achievements in transferability and attack success rate, the crafted adversarial examples are easily perceived by human eyes. Towards…

Adversarial Imitation Learning is traditionally framed as a two-player zero-sum game between a learner and an adversarially chosen cost function, and can therefore be thought of as the sequential generalization of a Generative Adversarial…

Motivated by the problem of pursuit-evasion, we present a motion planning framework that combines energy-based diffusion models with artificial potential fields for robust real time trajectory generation in complex environments. Our…

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 introduces a diffusion-based planner for leader--follower formation control in cluttered environments. The diffusion policy is used to generate the trajectory of the midpoint of two leaders as a rigid bar in the plane, thereby…

Generative diffusion models for end-to-end autonomous driving often suffer from mode collapse, tending to generate conservative and homogeneous behaviors. While DiffusionDrive employs predefined anchors representing different driving…

Generating multi-camera street-view videos is critical for augmenting autonomous driving datasets, addressing the urgent demand for extensive and varied data. Due to the limitations in diversity and challenges in handling lighting…

Classical methods in robot motion planning, such as sampling-based and optimization-based methods, often struggle with scalability towards higher-dimensional state spaces and complex environments. Diffusion models, known for their…

Heavy vehicles (HVs) pose a significant challenge to maintaining a smooth traffic flow on the freeway because they are slower moving and create large blind spots. It is therefore desirable for the followers of HVs to perform lane changes…

Accurate modeling of robot dynamics is essential for model-based control, yet remains challenging under distributional shifts and real-time constraints. In this work, we formulate system identification as an in-context meta-learning problem…