相关论文: DOME: Taming Diffusion Model into High-Fidelity Co…

Diffusion models excel at creating images and videos thanks to their multimodal generative capabilities. These same capabilities have made diffusion models increasingly popular in robotics research, where they are used for generating robot…

Diffusion models offer unprecedented image generation power given just a text prompt. While emerging approaches for controlling diffusion models have enabled users to specify the desired spatial layouts of the generated content, they cannot…

Accurate prediction of driving scene is a challenging task due to uncertainty in sensor data, the complex behaviors of agents, and the possibility of multiple feasible futures. Existing prediction methods using occupancy grid maps primarily…

Acting in cluttered environments requires predicting and avoiding collisions while still achieving precise control. Conventional optimization-based controllers can enforce physical constraints, but they struggle to produce feasible…

In this paper, we introduce a novel approach for autonomous driving trajectory generation by harnessing the complementary strengths of diffusion probabilistic models (a.k.a., diffusion models) and transformers. Our proposed framework,…

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…

Autonomous driving has the potential to significantly enhance productivity and provide numerous societal benefits. Ensuring robustness in these safety-critical systems is essential, particularly when vehicles must navigate adverse weather…

Cloth manipulation is challenging due to its highly complex dynamics, near-infinite degrees of freedom, and frequent self-occlusions, which complicate both state estimation and dynamics modeling. Inspired by recent advances in generative…

Bimanual manipulation is crucial in robotics, enabling complex tasks in industrial automation and household services. However, it poses significant challenges due to the high-dimensional action space and intricate coordination requirements.…

We present a novel character control framework that effectively utilizes motion diffusion probabilistic models to generate high-quality and diverse character animations, responding in real-time to a variety of dynamic user-supplied control…

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…

Accurate perception of the dynamic environment is a fundamental task for autonomous driving and robot systems. This paper introduces Let Occ Flow, the first self-supervised work for joint 3D occupancy and occupancy flow prediction using…

Realistic and interactive scene simulation is a key prerequisite for autonomous vehicle (AV) development. In this work, we present SceneDiffuser, a scene-level diffusion prior designed for traffic simulation. It offers a unified framework…

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…

Reduced order models (ROMs) play a critical role in fluid mechanics by providing low-cost predictions, making them an attractive tool for engineering applications. However, for ROMs to be widely applicable, they must not only generalise…

Vehicle trajectory prediction is crucial for advancing autonomous driving and advanced driver assistance systems (ADAS). Although deep learning-based approaches - especially those utilizing transformer-based and generative models - have…

We present TeSMo, a method for text-controlled scene-aware motion generation based on denoising diffusion models. Previous text-to-motion methods focus on characters in isolation without considering scenes due to the limited availability of…

Generating realistic animated videos from static images is an important area of research in computer vision. Methods based on physical simulation and motion prediction have achieved notable advances, but they are often limited to specific…

Modeling realistic pedestrian trajectories requires accounting for both social interactions and environmental context, yet most existing approaches largely emphasize social dynamics. We propose \textbf{EnvSocial-Diff}: a diffusion-based…

Nine-degrees-of-freedom (9-DoF) object pose and size estimation is crucial for enabling augmented reality and robotic manipulation. Category-level methods have received extensive research attention due to their potential for generalization…