相关论文: Adaptive Diffusion Terrain Generator for Autonomou…

High-level autonomous driving requires motion planners capable of modeling multimodal future uncertainties while remaining robust in closed-loop interactions. Although diffusion-based planners are effective at modeling complex trajectory…

Adversarial distillation (AD) is a knowledge distillation technique that facilitates the transfer of robustness from teacher deep neural network (DNN) models to lightweight target (student) DNN models, enabling the target models to perform…

Mobile robots, such as ground vehicles and quadrotors, are becoming increasingly important in various fields, from logistics to agriculture, where they automate processes in environments that are difficult to access for humans. However, to…

Diffusion models have demonstrated their powerful generative capability in many tasks, with great potential to serve as a paradigm for offline reinforcement learning. However, the quality of the diffusion model is limited by the…

Given an unconditional diffusion model and a predictor for a target property of interest (e.g., a classifier), the goal of training-free guidance is to generate samples with desirable target properties without additional training. Existing…

Existing generative models for unsupervised anomalous sound detection are limited by their inability to fully capture the complex feature distribution of normal sounds, while the potential of powerful diffusion models in this domain remains…

Diffusion models have emerged as powerful generative frameworks by progressively adding noise to data through a forward process and then reversing this process to generate realistic samples. While these models have achieved strong…

Lane change is a challenging task which requires delicate actions to ensure safety and comfort. Some recent studies have attempted to solve the lane-change control problem with Reinforcement Learning (RL), yet the action is confined to…

Safe and effective motion planning is crucial for autonomous robots. Diffusion models excel at capturing complex agent interactions, a fundamental aspect of decision-making in dynamic environments. Recent studies have successfully applied…

Diffusion models have become popular for policy learning in robotics due to their ability to capture high-dimensional and multimodal distributions. However, diffusion policies are stochastic and typically trained offline, limiting their…

Upside Down Reinforcement Learning (UDRL) is a promising framework for solving reinforcement learning problems which focuses on learning command-conditioned policies. In this work, we extend UDRL to the task of learning a…

Generative adversarial networks (GANs) are challenging to train stably, and a promising remedy of injecting instance noise into the discriminator input has not been very effective in practice. In this paper, we propose Diffusion-GAN, a…

This paper investigates the application of Deep Reinforcement (DRL) Learning to address motion control challenges in drones for additive manufacturing (AM). Drone-based additive manufacturing promises flexible and autonomous material…

Model-based reinforcement learning (MBRL) with autoregressive world models suffers from compounding errors, whereas diffusion world models mitigate this by generating trajectory segments jointly. However, existing diffusion guides are…

Motion planning in dynamic urban environments requires balancing immediate safety with long-term goals. While diffusion models effectively capture multi-modal decision-making, existing approaches treat trajectories as monolithic entities,…

Generative models such as diffusion have been employed as world models in offline reinforcement learning to generate synthetic data for more effective learning. Existing work either generates diffusion models one-time prior to training or…

In many web applications, deep learning-based CTR prediction models (deep CTR models for short) are widely adopted. Traditional deep CTR models learn patterns in a static manner, i.e., the network parameters are the same across all the…

An inherent fragility of quadrotor systems stems from model inaccuracies and external disturbances. These factors hinder performance and compromise the stability of the system, making precise control challenging. Existing model-based…

Maze navigation is a fundamental challenge in robotics, requiring agents to traverse complex environments efficiently. While the Deep Deterministic Policy Gradient (DDPG) algorithm excels in control tasks, its performance in maze navigation…

Generative models have the potential to accelerate key steps in the discovery of novel molecular therapeutics and materials. Diffusion models have recently emerged as a powerful approach, excelling at unconditional sample generation and,…