相关论文: Diffusion-Based Hierarchical Graph Neural Networks…

An input to a system reveals a non-robust behaviour when, by making a small change in the input, the output of the system changes from acceptable (passing) to unacceptable (failing) or vice versa. Identifying inputs that lead to non-robust…

The integration of Spiking Neural Networks (SNNs) and Graph Neural Networks (GNNs) is gradually attracting attention due to the low power consumption and high efficiency in processing the non-Euclidean data represented by graphs. However,…

Shared autonomy in driving requires anticipating human behavior, flagging risk before it becomes unavoidable, and transferring control safely and smoothly. We propose Diffusion-SAFE, a closed-loop framework built on two diffusion models: an…

Originating from the diffusion phenomenon in physics that describes particle movement, the diffusion generative models inherit the characteristics of stochastic random walk in the data space along the denoising trajectory. However, the…

Learning distributed representations of source code has been a challenging task for machine learning models. Earlier works treated programs as text so that natural language methods can be readily applied. Unfortunately, such approaches do…

Understanding and modeling lighting effects are fundamental tasks in computer vision and graphics. Classic physically-based rendering (PBR) accurately simulates the light transport, but relies on precise scene representations--explicit 3D…

Efficient modeling of jet diffusion during accidental release is critical for operation and maintenance management of hydrogen facilities. Deep learning has proven effective for concentration prediction in gas jet diffusion scenarios.…

We propose a new model to account for the main structural characteristics of rock fracture networks (RFNs). The model is based on a generalization of the random neighborhood graphs to consider fractures embedded into rectangular spaces. We…

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…

Recently, the diffusion model has emerged as a powerful generative technique for robotic policy learning, capable of modeling multi-mode action distributions. Leveraging its capability for end-to-end autonomous driving is a promising…

Forecasting future stock trends remains challenging for academia and industry due to stochastic inter-stock dynamics and hierarchical intra-stock dynamics influencing stock prices. In recent years, graph neural networks have achieved…

Graph neural networks(GNNs) have been demonstrated to depend on whether the node effective information is sufficiently passing. Discrete curvature (Ricci curvature) is used to study graph connectivity and information propagation efficiency…

Algorithm unrolling has emerged as a learning-based optimization paradigm that unfolds truncated iterative algorithms in trainable neural-network optimizers. We introduce Stochastic UnRolled Federated learning (SURF), a method that expands…

Nonprehensile manipulation, such as pushing objects across cluttered environments, presents a challenging control problem due to complex contact dynamics and long-horizon planning requirements. In this work, we propose HeRD, a hierarchical…

We consider the problem of distributionally robust multimodal machine learning. Existing approaches often rely on merging modalities on the feature level (early fusion) or heuristic uncertainty modeling, which downplays modality-aware…

Grasping objects successfully from a single-view camera is crucial in many robot manipulation tasks. An approach to solve this problem is to leverage simulation to create large datasets of pairs of objects and grasp poses, and then learn a…

Real-world data generation often involves certain geometries (e.g., graphs) that induce instance-level interdependence. This characteristic makes the generalization of learning models more difficult due to the intricate interdependent…

Collaborative filtering is a critical technique in recommender systems. It has been increasingly viewed as a conditional generative task for user feedback data, where newly developed diffusion model shows great potential. However, existing…

Recent advances in diffusion-based reinforcement learning (RL) methods have demonstrated promising results in a wide range of continuous control tasks. However, existing works in this field focus on the application of diffusion policies…

Legged robots have the potential to leverage obstacles to climb steep sand slopes. However, efficiently repositioning these obstacles to desired locations is challenging. Here we present DiffusiveGRAIN, a learning-based method that enables…