相关论文: Local Manifold Approximation and Projection for Ma…

Diffusion models have demonstrated strong capabilities for modeling human-like driving behaviors in autonomous driving, but their iterative sampling process induces substantial latency, and operating directly on raw trajectory points forces…

Diffusion models have achieved remarkable success as generative models. However, even a well-trained model can accumulate errors throughout the generation process. These errors become particularly problematic when arbitrary guidance is…

Long-horizon planning is crucial in complex environments, but diffusion-based planners like Diffuser are limited by the trajectory lengths observed during training. This creates a dilemma: long trajectories are needed for effective…

Model-based reinforcement learning methods often use learning only for the purpose of estimating an approximate dynamics model, offloading the rest of the decision-making work to classical trajectory optimizers. While conceptually simple,…

Diffusion-based planning has shown promising results in long-horizon, sparse-reward tasks by training trajectory diffusion models and conditioning the sampled trajectories using auxiliary guidance functions. However, due to their nature as…

Optimization methods for long-horizon, dynamically feasible motion planning in robotics tackle challenging non-convex and discontinuous optimization problems. Traditional methods often falter due to the nonlinear characteristics of these…

Diffusion-based generative methods have proven effective in modeling trajectories with offline datasets. However, they often face computational challenges and can falter in generalization, especially in capturing temporal abstractions for…

We introduce the Linearized Diffusion Map (LDM), a novel linear dimensionality reduction method constructed via a linear approximation of the diffusion-map kernel. LDM integrates the geometric intuition of diffusion-based nonlinear methods…

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…

Multi-Robot Motion Planning (MRMP) involves generating collision-free trajectories for multiple robots operating in a shared continuous workspace. While discrete multi-agent path finding (MAPF) methods are broadly adopted due to their…

In the BCI field, introspection and interpretation of brain signals are desired for providing feedback or to guide rapid paradigm prototyping but are challenging due to the high noise level and dimensionality of the signals. Deep neural…

Temporal abstraction and efficient planning pose significant challenges in offline reinforcement learning, mainly when dealing with domains that involve temporally extended tasks and delayed sparse rewards. Existing methods typically plan…

Uniform Manifold Approximation and Projection (UMAP) is a widely used manifold learning technique for dimensionality reduction. This paper studies UMAP, supervised UMAP, and several competing dimensionality reduction methods, including…

Optimizing complex systems, from discovering therapeutic drugs to designing high-performance materials, remains a fundamental challenge across science and engineering, as the underlying rules are often unknown and costly to evaluate.…

The multi-agent pathfinding (MAPF) problem seeks collision-free paths for a team of agents from their current positions to their pre-set goals in a known environment, and is an essential problem found at the core of many logistics,…

UMAP (Uniform Manifold Approximation and Projection) is a novel manifold learning technique for dimension reduction. UMAP is constructed from a theoretical framework based in Riemannian geometry and algebraic topology. The result is a…

Dimensionality reduction methods are employed to decrease data dimensionality, either to enhance machine learning performance or to facilitate data visualization in two or three-dimensional spaces. These methods typically fall into two…

Simulating limit order books (LOBs) has important applications across forecasting and backtesting for financial market data. However, deep generative models struggle in this context due to the high noise and complexity of the data. Previous…

Large-scale multiobjective optimization problems (LSMOPs) are characterized as involving hundreds or even thousands of decision variables and multiple conflicting objectives. An excellent algorithm for solving LSMOPs should find…

Diffusion models can be used as a motion planner by sampling from a distribution of possible futures. However, the samples may not satisfy hard constraints that exist only implicitly in the training data, e.g., avoiding falls or not…