相关论文: Understanding and Mitigating the High Computationa…

The performance of optimization-based robot motion planning algorithms is highly dependent on the initial solutions, commonly obtained by running a sampling-based planner to obtain a collision-free path. However, these methods can be slow…

Simulating diverse and realistic traffic scenarios is critical for developing and testing autonomous planning. Traditional rule-based planners lack diversity and realism, while learning-based simulators often replay, forecast, or edit…

Video diffusion models (VDMs) perform attention computation over the 3D spatio-temporal domain. Compared to large language models (LLMs) processing 1D sequences, their memory consumption scales cubically, necessitating parallel serving…

Generating molecular graphs is a challenging task due to their discrete nature and the competitive objectives involved. Diffusion models have emerged as SOTA approaches in data generation across various modalities. For molecular graphs,…

The efficiency of multi-agent systems driven by large language models (LLMs) largely hinges on their communication topology. However, designing an optimal topology is a non-trivial challenge, as it requires balancing competing objectives…

Latent Diffusion Models (LDMs) are generally trained at fixed resolutions, limiting their capability when scaling up to high-resolution images. While training-based approaches address this limitation by training on high-resolution datasets,…

Diffusion models face a fundamental trade-off between generation quality and computational efficiency. Latent Diffusion Models (LDMs) offer an efficient solution but suffer from potential information loss and non-end-to-end training. In…

Traditional optimization-based planners, while effective, suffer from high computational costs, resulting in slow trajectory generation. A successful strategy to reduce computation time involves using Imitation Learning (IL) to develop fast…

Diffusion-based motion planners are becoming popular due to their well-established performance improvements, stemming from sample diversity and the ease of incorporating new constraints directly during inference. However, a primary…

The steep computational cost of diffusion models at inference hinders their use as fast physics emulators. In the context of image and video generation, this computational drawback has been addressed by generating in the latent space of an…

Using the growing volumes of vehicle trajectory data, it becomes increasingly possible to capture time-varying and uncertain travel costs in a road network, including travel time and fuel consumption. The current paradigm represents a road…

Recent progress in imitation learning has been enabled by policy architectures that scale to complex visuomotor tasks, multimodal distributions, and large datasets. However, these methods often rely on learning from large amount of expert…

Graph diffusion models achieve state-of-the-art performance in graph generation but suffer from quadratic complexity in the number of nodes -- and much of their capacity is wasted modeling the absence of edges in sparse graphs. Inspired by…

Diffusion models have achieved remarkable progress in high-fidelity image, video, and audio generation, yet inference remains computationally expensive. Nevertheless, current diffusion acceleration methods based on distributed parallelism…

In extreme environments such as underwater exploration and post-disaster rescue, tethered robots require continuous navigation while avoiding cable entanglement. Traditional planners struggle in these lifelong planning scenarios due to…

Diffusion models form an important class of generative models today, accounting for much of the state of the art in cutting edge AI research. While numerous extensions beyond image and video generation exist, few of such approaches address…

Diffusion models have made significant contributions to computer vision, sparking a growing interest in the community recently regarding the application of them to graph generation. Existing discrete graph diffusion models exhibit…

Human trajectory data is crucial in urban planning, traffic engineering, and public health. However, directly using real-world trajectory data often faces challenges such as privacy concerns, data acquisition costs, and data quality. A…

We propose a novel diffusion map particle system (DMPS) for generative modeling, based on diffusion maps and Laplacian-adjusted Wasserstein gradient descent (LAWGD). Diffusion maps are used to approximate the generator of the corresponding…

Recent advances in diffusion models have demonstrated their strong capabilities in generating high-fidelity samples from complex distributions through an iterative refinement process. Despite the empirical success of diffusion models in…