相关论文: DefFusionNet: Learning Multimodal Goal Shapes for …

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,…

Imitation learning with diffusion models has advanced robotic control by capturing the multi-modal action distributions. However, existing methods typically treat observations only as high-level conditions to the denoising network, rather…

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…

Speech-driven gesture synthesis is a field of growing interest in virtual human creation. However, a critical challenge is the inherent intricate one-to-many mapping between speech and gestures. Previous studies have explored and achieved…

Bimanual manipulation is crucial in robotics, enabling complex tasks in industrial automation and household services. However, it poses significant challenges due to the high-dimensional action space and intricate coordination requirements.…

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,…

Novel view synthesis has observed tremendous developments since the arrival of NeRFs. However, Nerf models overfit on a single scene, lacking generalization to out of distribution objects. Recently, diffusion models have exhibited…

Novel-view synthesis through diffusion models has demonstrated remarkable potential for generating diverse and high-quality images. Yet, the independent process of image generation in these prevailing methods leads to challenges in…

Diffusion models have demonstrated remarkable performance in generation tasks. Nevertheless, explaining the diffusion process remains challenging due to it being a sequence of denoising noisy images that are difficult for experts to…

Previous visual object tracking methods employ image-feature regression models or coordinate autoregression models for bounding box prediction. Image-feature regression methods heavily depend on matching results and do not utilize…

We propose DiffusionDet, a new framework that formulates object detection as a denoising diffusion process from noisy boxes to object boxes. During the training stage, object boxes diffuse from ground-truth boxes to random distribution, and…

This paper introduces an approach, named DFormer, for universal image segmentation. The proposed DFormer views universal image segmentation task as a denoising process using a diffusion model. DFormer first adds various levels of Gaussian…

We introduce a new general-purpose approach to deep learning on 3D surfaces, based on the insight that a simple diffusion layer is highly effective for spatial communication. The resulting networks are automatically robust to changes in…

High-fidelity numerical simulations of chaotic, high dimensional nonlinear dynamical systems are computationally expensive, necessitating the development of efficient surrogate models. Most surrogate models for such systems are…

In this paper, a novel approach is proposed for learning robot control in contact-rich tasks such as wiping, by developing Diffusion Contact Model (DCM). Previous methods of learning such tasks relied on impedance control with time-varying…

In the fast-fashion industry, overproduction and unsold inventory create significant environmental problems. Precise sales forecasts for unreleased items could drastically improve the efficiency and profits of industries. However,…

Object detectors often suffer a decrease in performance due to the large domain gap between the training data (source domain) and real-world data (target domain). Diffusion-based generative models have shown remarkable abilities in…

Denoising diffusion probabilistic models have brought tremendous advances in generative tasks, achieving state-of-the-art performance thus far. Current diffusion model-based applications exploit the power of learned visual representations…

Navigation by scent is a capability in robotic systems that is rising in demand. However, current methods often suffer from ambiguities, particularly when robots misattribute odours to incorrect objects due to limitations in olfactory…

Recently, diffusion transformers have gained wide attention with its excellent performance in text-to-image and text-to-vidoe models, emphasizing the need for transformers as backbone for diffusion models. Transformer-based models have…