相关论文: Adaptive Diffusion Terrain Generator for Autonomou…

We introduce Adversarial Diffusion Distillation (ADD), a novel training approach that efficiently samples large-scale foundational image diffusion models in just 1-4 steps while maintaining high image quality. We use score distillation to…

For highly automated driving above SAE level~3, behavior generation algorithms must reliably consider the inherent uncertainties of the traffic environment, e.g. arising from the variety of human driving styles. Such uncertainties can…

In this work, we study Source-Free Unsupervised Domain Adaptation under corruption-induced domain shifts, where performance degradation is caused by natural image corruptions that go beyond additive noise, including blur, weather effects,…

Denoising diffusion probabilistic models (DDPMs) are a recent family of generative models that achieve state-of-the-art results. In order to obtain class-conditional generation, it was suggested to guide the diffusion process by gradients…

We present a novel learning-based trajectory generation algorithm for outdoor robot navigation. Our goal is to compute collision-free paths that also satisfy the environment-specific traversability constraints. Our approach is designed for…

This paper deploys the Deep Deterministic Policy Gradient (DDPG) algorithm for longitudinal and lateral control of a simulated car to solve a path following task. The DDPG agent was implemented using PyTorch and trained and evaluated on a…

Bounded rational agents often make decisions by evaluating a finite selection of choices, typically derived from a reference point termed the $`$default policy,' based on previous experience. However, the inherent rigidity of the static…

Discrete diffusion models are a class of generative models that construct sequences by progressively denoising samples from a categorical noise distribution. Beyond their rapidly growing ability to generate coherent natural language, these…

Uncertainty quantification is one of the central challenges for machine learning in real-world applications. In reinforcement learning, an agent confronts two kinds of uncertainty, called epistemic uncertainty and aleatoric uncertainty.…

Autonomous drone racing in complex environments requires agile, high-speed flight while maintaining reliable obstacle avoidance. Differentiable-physics-based policy learning has recently demonstrated high sample efficiency and remarkable…

A new amortized variance-reduced gradient (AVRG) algorithm was developed in \cite{ying2017convergence}, which has constant storage requirement in comparison to SAGA and balanced gradient computations in comparison to SVRG. One key advantage…

Reinforcement Learning (RL)-based motion planning has recently shown the potential to outperform traditional approaches from autonomous navigation to robot manipulation. In this work, we focus on a motion planning task for an evasive target…

Most end-to-end autonomous driving methods rely on imitation learning from single expert demonstrations, often leading to conservative and homogeneous behaviors that limit generalization in complex real-world scenarios. In this work, we…

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…

In this work, we propose a novel approach, namely WeatherDG, that can generate realistic, weather-diverse, and driving-screen images based on the cooperation of two foundation models, i.e, Stable Diffusion (SD) and Large Language Model…

Generative Adversarial Networks (GAN) (Goodfellow et al., 2014) are an effective method for training generative models of complex data such as natural images. However, they are notoriously hard to train and can suffer from the problem of…

Intelligence agents and multi-agent systems play important roles in scenes like the control system of grouped drones, and multi-agent navigation and obstacle avoidance which is the foundational function of advanced application has great…

Deep generative models are proven to be a useful tool for automatic design synthesis and design space exploration. When applied in engineering design, existing generative models face three challenges: 1) generated designs lack diversity and…

Reinforcement learning (RL) struggles to scale to large, combinatorial action spaces common in many real-world problems. This paper introduces a novel framework for training discrete diffusion models as highly effective policies in these…

Diffusion-based Generative Models (DGMs) have achieved unparalleled performance in synthesizing high-quality visual content, opening up the opportunity to improve image super-resolution (SR) tasks. Recent solutions for these tasks often…