相关论文: Adaptive Diffusion Terrain Generator for Autonomou…

Model-free reinforcement learning has emerged as a powerful method for developing robust robot control policies capable of navigating through complex and unstructured environments. The effectiveness of these methods hinges on two essential…

We present a novel end-to-end diffusion-based trajectory generation method, DTG, for mapless global navigation in challenging outdoor scenarios with occlusions and unstructured off-road features like grass, buildings, bushes, etc. Given a…

Real-world datasets collected from sensors or human inputs are prone to noise and errors, posing significant challenges for applying offline reinforcement learning (RL). While existing methods have made progress in addressing corrupted…

Training agents that are robust to environmental changes remains a significant challenge in deep reinforcement learning (RL). Unsupervised environment design (UED) has recently emerged to address this issue by generating a set of training…

Diffusion-based robot navigation policies trained on large-scale imitation learning datasets, can generate multi-modal trajectories directly from the robot's visual observations, bypassing the traditional localization-mapping-planning…

The discovery of inorganic crystal structures with targeted properties is a significant challenge in materials science. Generative models, especially state-of-the-art diffusion models, offer the promise of modeling complex data…

Decision-making stands as a pivotal component in the realm of autonomous vehicles (AVs), playing a crucial role in navigating the intricacies of autonomous driving. Amidst the evolving landscape of data-driven methodologies, enhancing…

Diffusion policies have recently emerged as a powerful class of visuomotor controllers for robot manipulation, offering stable training and expressive multi-modal action modeling. However, existing approaches typically treat action…

With the flourishing development of intelligent warehousing systems, the technology of Automated Guided Vehicle (AGV) has experienced rapid growth. Within intelligent warehousing environments, AGV is required to safely and rapidly plan an…

Path planning for a robotic system in high-dimensional cluttered environments needs to be efficient, safe, and adaptable for different environments and hardware. Conventional methods face high computation time and require extensive…

Sketch-based terrain generation seeks to create realistic landscapes for virtual environments in various applications such as computer games, animation and virtual reality. Recently, deep learning based terrain generation has emerged,…

Recent advances in image synthesis have been propelled by powerful generative models, such as Masked Generative Transformers (MaskGIT), autoregressive models, diffusion models, and rectified flow models. A common principle behind their…

Diffusion policy sampling enables reinforcement learning (RL) to represent multimodal action distributions beyond suboptimal unimodal Gaussian policies. However, existing diffusion-based RL methods primarily focus on offline settings for…

In many real-world settings, agents must learn from an offline dataset gathered by some prior behavior policy. Such a setting naturally leads to distribution shift between the behavior policy and the target policy being trained - requiring…

Safety-critical scenarios are infrequent in natural driving environments but hold significant importance for the training and testing of autonomous driving systems. The prevailing approach involves generating safety-critical scenarios…

In autonomous driving tasks, trajectory prediction in complex traffic environments requires adherence to real-world context conditions and behavior multimodalities. Existing methods predominantly rely on prior assumptions or generative…

Structural topology optimization, which aims to find the optimal physical structure that maximizes mechanical performance, is vital in engineering design applications in aerospace, mechanical, and civil engineering. Generative adversarial…

Modeling realistic and interactive multi-agent behavior is critical to autonomous driving and traffic simulation. However, existing diffusion and autoregressive approaches are limited by iterative sampling, sequential decoding, or…

Diffusion models are the standard toolkit for generative modelling of 3D atomic systems. However, for different types of atomic systems -- such as molecules and materials -- the generative processes are usually highly specific to the target…

Robustness to modeling errors and uncertainties remains a central challenge in reinforcement learning (RL). In this work, we address this challenge by leveraging diffusion models to train robust RL policies. Diffusion models have recently…