相关论文: Diffusion as Reasoning: Enhancing Object Navigatio…

Diffusion models, a family of generative models based on deep learning, have become increasingly prominent in cutting-edge machine learning research. With a distinguished performance in generating samples that resemble the observed data,…

Recent DiT-based text-to-image models increasingly adopt LLMs as text encoders, yet text conditioning remains largely static and often utilizes only a single LLM layer, despite pronounced semantic hierarchy across LLM layers and…

Diffusion models have gained tremendous success in text-to-image generation, yet still lag behind with visual understanding tasks, an area dominated by autoregressive vision-language models. We propose a large-scale and fully end-to-end…

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…

Camouflaged Object Detection (COD) is a challenging task in computer vision due to the high similarity between camouflaged objects and their surroundings. Existing COD methods primarily employ semantic segmentation, which suffers from…

What is a good visual representation for autonomous agents? We address this question in the context of semantic visual navigation, which is the problem of a robot finding its way through a complex environment to a target object, e.g. go to…

Object goal navigation is an important problem in Embodied AI that involves guiding the agent to navigate to an instance of the object category in an unknown environment -- typically an indoor scene. Unfortunately, current state-of-the-art…

Autonomous driving requires an understanding of the static environment from sensor data. Learned Bird's-Eye View (BEV) encoders are commonly used to fuse multiple inputs, and a vector decoder predicts a vectorized map representation from…

In various scientific and engineering domains, where data acquisition is costly--such as in medical imaging, environmental monitoring, or remote sensing--strategic sampling from unobserved regions, guided by prior observations, is essential…

Recent advances in diffusion-based generative modeling have demonstrated significant promise in tackling long-horizon, sparse-reward tasks by leveraging offline datasets. While these approaches have achieved promising results, their…

A multi-modal framework to generate user intention distributions when operating a mobile vehicle is proposed in this work. The model learns from past observed trajectories and leverages traversability information derived from the visual…

Long-term human trajectory prediction is a challenging yet critical task in robotics and autonomous systems. Prior work that studied how to predict accurate short-term human trajectories with only unimodal features often failed in long-term…

Camouflaged object detection is a challenging task that aims to identify objects that are highly similar to their background. Due to the powerful noise-to-image denoising capability of denoising diffusion models, in this paper, we propose a…

In this paper, we present DiffusionVLA, a novel framework that seamlessly combines the autoregression model with the diffusion model for learning visuomotor policy. Central to our approach is a next-token prediction objective, enabling the…

Domain generalization (DG) for object detection aims to enhance detectors' performance in unseen scenarios. This task remains challenging due to complex variations in real-world applications. Recently, diffusion models have demonstrated…

In an era characterized by advancements in artificial intelligence and robotics, enabling machines to interact with and understand their environment is a critical research endeavor. In this paper, we propose Answerability Fields, a novel…

This paper investigates the idea of encoding object-centered representations in the design of the reward function and policy architectures of a language-guided reinforcement learning agent. This is done using a combination of object-wise…

Remote sensing image change description represents an innovative multimodal task within the realm of remote sensing processing.This task not only facilitates the detection of alterations in surface conditions, but also provides…

Diffusion-based generative modeling has been achieving state-of-the-art results on various generation tasks. Most diffusion models, however, are limited to a single-generation modeling. Can we generalize diffusion models with the ability of…

Positional reasoning is the process of ordering unsorted parts contained in a set into a consistent structure. We present Positional Diffusion, a plug-and-play graph formulation with Diffusion Probabilistic Models to address positional…