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

Forecasting a typical object's future motion is a critical task for interpreting and interacting with dynamic environments in computer vision. Event-based sensors, which could capture changes in the scene with exceptional temporal…

The task of motion prediction is pivotal for autonomous driving systems, providing crucial data to choose a vehicle behavior strategy within its surroundings. Existing motion prediction techniques primarily focus on predicting the future…

Autonomous exploration in structured and complex indoor environments remains a challenging task, as existing methods often struggle to appropriately model unobserved space and plan globally efficient paths. To address these limitations, we…

Diffusion models are promising for joint trajectory prediction and controllable generation in autonomous driving, but they face challenges of inefficient inference steps and high computational demands. To tackle these challenges, we…

Diffusion models have been verified to be effective in generating complex distributions from natural images to motion trajectories. Recent diffusion-based methods show impressive performance in 3D robotic manipulation tasks, whereas they…

We present a novel study on enhancing the capability of preserving the content in world models, focusing on a property we term World Stability. Recent diffusion-based generative models have advanced the synthesis of immersive and realistic…

Safe swarm navigation in cluttered indoor environment requires long-horizon planning, reactive obstacle avoidance, and adaptive compliance. We propose ImpedanceDiffusion, a hierarchical framework that leverages image-conditioned…

World models, especially in autonomous driving, are trending and drawing extensive attention due to their capacity for comprehending driving environments. The established world model holds immense potential for the generation of…

Understanding and forecasting the scene evolutions deeply affect the exploration and decision of embodied agents. While traditional methods simulate scene evolutions through trajectory prediction of potential instances, current works use…

Trajectory prediction is central to the safe and seamless operation of autonomous vehicles (AVs). In deployment, however, prediction models inevitably face distribution shifts between training data and real-world conditions, where rare or…

3D scene understanding plays a vital role in vision-based autonomous driving. While most existing methods focus on 3D object detection, they have difficulty describing real-world objects of arbitrary shapes and infinite classes. Towards a…

Diffusion Models (DMs) have demonstrated state-of-the-art performance in content generation without requiring adversarial training. These models are trained using a two-step process. First, a forward - diffusion - process gradually adds…

Perceiving the world and forecasting its future state is a critical task for self-driving. Supervised approaches leverage annotated object labels to learn a model of the world -- traditionally with object detections and trajectory…

Safety-critical traffic simulation plays a crucial role in evaluating autonomous driving systems under rare and challenging scenarios. However, existing approaches often generate unrealistic scenarios due to insufficient consideration of…

Diffusion models have shown promising capabilities in trajectory generation for planning in offline reinforcement learning (RL). However, conventional diffusion-based planning methods often fail to account for the fact that generating…

Interactive decision-making is essential in applications such as autonomous driving, where the agent must infer the behavior of nearby human drivers while planning in real-time. Traditional predict-then-act frameworks are often insufficient…

Natural and expressive human motion generation is the holy grail of computer animation. It is a challenging task, due to the diversity of possible motion, human perceptual sensitivity to it, and the difficulty of accurately describing it.…

End-to-end learning has emerged as a transformative paradigm in autonomous driving. However, the inherently multimodal nature of driving behaviors and the generalization challenges in long-tail scenarios remain critical obstacles to robust…

Physics-aware driving world model is essential for drive planning, out-of-distribution data synthesis, and closed-loop evaluation. However, existing methods often rely on a single diffusion model to directly map driving actions to videos,…

This study introduces a novel point-wise diffusion model that processes spatio-temporal points independently to efficiently predict complex physical systems with shape variations. This methodological contribution lies in applying forward…