相关论文: IKDiffuser: a Diffusion-based Generative Inverse K…

Diffusion models are powerful tools for sampling from high-dimensional distributions by progressively transforming pure noise into structured data through a denoising process. When equipped with a guidance mechanism, these models can also…

While many unsupervised learning models focus on one family of tasks, either generative or discriminative, we explore the possibility of a unified representation learner: a model which addresses both families of tasks simultaneously. We…

Many applications require a robot to accurately track reference end-effector trajectories. Certain trajectories may not be tracked as single, continuous paths due to the robot's kinematic constraints or obstacles elsewhere in the…

Score-based diffusion models achieve state-of-the-art performance for inverse problems, but their practical deployment is hindered by long inference times and cumbersome hyperparameter tuning. While pretrained diffusion models can be reused…

Kinodynamic motion planning is concerned with computing collision-free trajectories while abiding by the robot's dynamic constraints. This critical problem is often tackled using sampling-based planners (SBPs) that explore the robot's…

This paper investigates a constrained inverse kinematic (IK) problem that seeks a feasible configuration of an articulated robot under various constraints such as joint limits and obstacle collision avoidance. Due to the high-dimensionality…

Diffusion models have emerged as a key pillar of foundation models in visual domains. One of their critical applications is to universally solve different downstream inverse tasks via a single diffusion prior without re-training for each…

Machine learning models have demonstrated remarkable efficacy and efficiency in a wide range of stock forecasting tasks. However, the inherent challenges of data scarcity, including low signal-to-noise ratio (SNR) and data homogeneity, pose…

This paper considers the problem of utilizing a large-scale text-to-image diffusion model to tackle the challenging Inexact Segmentation (IS) task. Unlike traditional approaches that rely heavily on discriminative-model-based paradigms or…

Real-time humanoid teleoperation requires inverse kinematics (IK) solvers that are both responsive and constraint-safe under kinematic redundancy and self-collision constraints. While differential IK enables efficient online retargeting,…

Nature evolves creatures with a high complexity of morphological and behavioral intelligence, meanwhile computational methods lag in approaching that diversity and efficacy. Co-optimization of artificial creatures' morphology and control in…

We propose self-diffusion, a novel framework for solving inverse problems without relying on pretrained generative models. Traditional diffusion-based approaches require training a model on a clean dataset to learn to reverse the forward…

Although recent speech processing technologies have achieved significant improvements in objective metrics, there still remains a gap in human perceptual quality. This paper proposes Diffiner, a novel solution that utilizes the powerful…

Existing approaches to diffusion-based inverse problem solvers frame the signal recovery task as a probabilistic sampling episode, where the solution is drawn from the desired posterior distribution. This framework suffers from several…

The development of diffusion-based generative models over the past decade has largely proceeded independently of progress in representation learning. These diffusion models typically rely on regression-based objectives and generally lack…

We present MotionDiffuser, a diffusion based representation for the joint distribution of future trajectories over multiple agents. Such representation has several key advantages: first, our model learns a highly multimodal distribution…

Kinematic sensors are often used to analyze movement behaviors in sports and daily activities due to their ease of use and lack of spatial restrictions, unlike video-based motion capturing systems. Still, the generation, and especially the…

A conditional latent-diffusion based framework for solving the electromagnetic inverse scattering problem associated with microwave imaging is introduced. This generative machine-learning model explicitly mirrors the non-uniqueness of the…

Acquiring high-quality data for training discriminative models is a crucial yet challenging aspect of building effective predictive systems. In this paper, we present Diffusion Inversion, a simple yet effective method that leverages the…

High-level autonomous driving requires motion planners capable of modeling multimodal future uncertainties while remaining robust in closed-loop interactions. Although diffusion-based planners are effective at modeling complex trajectory…