相关论文: RODS: Robust Optimization Inspired Diffusion Sampl…

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 models have demonstrated strong performance in sampling and editing multi-modal data with high generation quality, yet they suffer from the iterative generation process which is computationally expensive and slow. In addition,…

Diffusion models have gained attention for their success in modeling complex distributions, achieving impressive perceptual quality in SR tasks. However, existing diffusion-based SR methods often suffer from high computational costs,…

Generative models have had a profound impact on vision and language, paving the way for a new era of multimodal generative applications. While these successes have inspired researchers to explore using generative models in science and…

We propose Amortized Posterior Sampling (APS), a novel variational inference approach for efficient posterior sampling in inverse problems. Our method trains a conditional flow model to minimize the divergence between the variational…

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…

Diffusion models, while increasingly adept at generating realistic images, are notably hindered by hallucinations -- unrealistic or incorrect features inconsistent with the trained data distribution. In this work, we propose Adaptive…

We introduce a novel, training-free method for sampling differentiable representations (diffreps) using pretrained diffusion models. Rather than merely mode-seeking, our method achieves sampling by "pulling back" the dynamics of the…

Diffusion models have shown strong competitiveness in offline reinforcement learning tasks by formulating decision-making as sequential generation. However, the practicality of these methods is limited due to the lengthy inference processes…

Diffusion-based image generators can now produce high-quality and diverse samples, but their success has yet to fully translate to 3D generation: existing diffusion methods can either generate low-resolution but 3D consistent outputs, or…

Diffusion models, as a kind of powerful generative model, have given impressive results on image super-resolution (SR) tasks. However, due to the randomness introduced in the reverse process of diffusion models, the performances of…

Contemporary text-to-image models exhibit a surprising degree of mode collapse, as can be seen when sampling several images given the same text prompt. Previous work has attempted to address this issue by steering the model using guidance…

Diffusion models have shown superior performance on unsupervised anomaly detection tasks. Since trained with normal data only, diffusion models tend to reconstruct normal counterparts of test images with certain noises added. However, these…

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)…

Diffusion models have recently emerged as effective generative frameworks for trajectory optimization, capable of producing high-quality and diverse solutions. However, training these models in a purely data-driven manner without explicit…

Text-to-image diffusion models pre-trained on billions of image-text pairs have recently enabled 3D content creation by optimizing a randomly initialized differentiable 3D representation with score distillation. However, the optimization…

Diffusion-based image super-resolution (SR) methods have demonstrated remarkable performance. Recent advancements have introduced deterministic sampling processes that reduce inference from 15 iterative steps to a single step, thereby…

Diffusion models have emerged as powerful tools for 3D medical image generation, yet bridging the gap between standard training objectives and clinical relevance remains a challenge. This paper presents a method to enhance 3D diffusion…

Recent advances in diffusion models have demonstrated their strong capabilities in generating high-fidelity samples from complex distributions through an iterative refinement process. Despite the empirical success of diffusion models in…

Diffusion models have advanced unsupervised anomaly detection by improving the transformation of pathological images into pseudo-healthy equivalents. Nonetheless, standard approaches may compromise critical information during pathology…