相关论文: Diffusion Graph Neural Networks and Dataset for Ro…

Diffusion models have recently emerged as powerful tools for robot motion planning by capturing the multi-modal distribution of feasible trajectories. However, their extension to multi-robot settings with flexible, language-conditioned task…

Recent advances in Graph Neural Networks (GNNs) have revolutionized graph-structured data modeling, yet traditional GNNs struggle with complex heterogeneous structures prevalent in real-world scenarios. Despite progress in handling…

Generating molecular structures with desired properties is a critical task with broad applications in drug discovery and materials design. We propose 3M-Diffusion, a novel multi-modal molecular graph generation method, to generate diverse,…

The paradigm shift toward structure-driven molecule generation has been propelled by advances in deep generative models, such as variational auto-encoders and diffusion models. However, these generative models for molecular design remain…

Trajectory generation for mobile robots in unstructured environments faces a critical dilemma: balancing kinematic smoothness for safe execution with terminal precision for fine-grained tasks. Existing generative planners often struggle…

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…

Moving object detection (MOD) in remote sensing is significantly challenged by low resolution, extremely small object sizes, and complex noise interference. Current deep learning-based MOD methods rely on probability density estimation,…

Grasping is a fundamental robot skill, yet despite significant research advancements, learning-based 6-DOF grasping approaches are still not turnkey and struggle to generalize across different embodiments and in-the-wild settings. We build…

Autonomous robot navigation within the dynamic unknown environment is of crucial significance for mobile robotic applications including robot navigation in last-mile delivery and robot-enabled automated supplies in industrial and hospital…

The olfactory system of male moths is exquisitely sensitive to pheromones emitted by females and transported in the environment by atmospheric turbulence. Moths respond to minute amounts of pheromones and their behavior is sensitive to the…

Deformable object manipulation is critical to many real-world robotic applications, ranging from surgical robotics and soft material handling in manufacturing to household tasks like laundry folding. At the core of this important robotic…

Locating the source of odor in a turbulent environment - a common behavior for living organisms - is non-trivial because of the random nature of mixing. Here we analyze the statistical physics aspects of the problem and propose an efficient…

Diffusion models, as a class of deep generative models, have recently emerged as powerful tools for robot skills by enabling stable training with reliable convergence. In this paper, we present an end-to-end framework for generating long,…

Generative models such as diffusion models, excel at capturing high-dimensional distributions with diverse input modalities, e.g. robot trajectories, but are less effective at multi-step constraint reasoning. Task and Motion Planning (TAMP)…

This paper considers the problem of enabling robots to navigate dynamic environments while following instructions. The challenge lies in the combinatorial nature of instruction specifications: each instruction can include multiple…

In computer-assisted surgery, automatically recognizing anatomical organs is crucial for understanding the surgical scene and providing intraoperative assistance. While machine learning models can identify such structures, their deployment…

Diffusion probabilistic models have achieved enormous success in the field of image generation and manipulation. In this paper, we explore a novel paradigm of using the diffusion model and classifier guidance in the latent semantic space…

For tasks conducted in unknown environments with efficiency requirements, real-time navigation of multi-robot systems remains challenging due to unfamiliarity with surroundings.In this paper, we propose a novel multi-robot collaborative…

Diffusion generative models have demonstrated remarkable success in visual domains such as image and video generation. They have also recently emerged as a promising approach in robotics, especially in robot manipulations. Diffusion models…

Trajectories are nowadays valuable information for a wide range of applications. However they are also inherently sensitive, as they contain highly personal information about individuals. Facing this challenge, synthesizing mobility…