相关论文: Planning-Query-Guided Model Generation for Model-B…

We propose a novel diffusion-based action model for robotic motion planning. Commonly, established numerical planning approaches are used to solve general motion planning problems, but have significant runtime requirements. By leveraging…

Diffusion models have enabled remarkably high-quality medical image generation, yet it is challenging to enforce anatomical constraints in generated images. To this end, we propose a diffusion model-based method that supports…

Representation learning is a widely adopted framework for learning in data-scarce environments to obtain a feature extractor or representation from various different yet related tasks. Despite extensive research on representation learning,…

Seismic data processing involves techniques to deal with undesired effects that occur during acquisition and pre-processing. These effects mainly comprise coherent artefacts such as multiples, non-coherent signals such as electrical noise,…

Trajectory prediction and planning are essential for autonomous vehicles to navigate safely and efficiently in dynamic environments. Traditional approaches often treat them separately, limiting the ability for interactive planning. While…

Stochastic forecasting is critical for efficient decision-making in uncertain systems, such as energy markets and finance, where estimating the full distribution of future scenarios is essential. We propose Diffusion Scenario Tree (DST), a…

Manipulation of large objects over long horizons (such as carts in a warehouse) is an essential skill for deployable robotic systems. Large objects require mobile manipulation which involves simultaneous manipulation, navigation, and…

Recent progress in imitation learning has been enabled by policy architectures that scale to complex visuomotor tasks, multimodal distributions, and large datasets. However, these methods often rely on learning from large amount of expert…

An intelligent agent operating in the real-world must balance achieving its goal with maintaining the safety and comfort of not only itself, but also other participants within the surrounding scene. This requires jointly reasoning about the…

Diffusion models are emerging expressive generative models, in which a large number of time steps (inference steps) are required for a single image generation. To accelerate such tedious process, reducing steps uniformly is considered as an…

Data-driven approaches for modelling contact-rich tasks address many of the difficulties that analytical models bear. For real-world scenarios, the hardware capabilities constrain the available measurements and consequently, every step of…

Long-range human movement generation remains a central challenge in computer vision and graphics. Generating coherent transitions across semantically distinct motion domains remains largely unexplored. This capability is particularly…

Efficiently generating grasp poses tailored to specific regions of an object is vital for various robotic manipulation tasks, especially in a dual-arm setup. This scenario presents a significant challenge due to the complex geometries…

Generating human motion that satisfies customized zero-shot goal functions, enabling applications such as controllable character animation and behavior synthesis for virtual agents, is a critical capability. While current approaches handle…

Unlike quasi-static robotic manipulation tasks like pick-and-place, dynamic tasks such as non-prehensile manipulation pose greater challenges, especially for vision-based control. Successful control requires the extraction of features…

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…

Generative models trained on synthetic plan data are a promising approach to generalized planning. Recent work has focused on finding any valid plan, rather than a high-quality solution. We address the challenge of producing high-quality…

Diffusion models have emerged as a powerful new family of deep generative models with record-breaking performance in many applications, including image synthesis, video generation, and molecule design. In this survey, we provide an overview…

We introduce specialized diffusion-based generative models that capture the spatiotemporal dynamics of fine-grained robotic surgical sub-stitch actions through supervised learning on annotated laparoscopic surgery footage. The proposed…

Accurate machine-learning models for aerodynamic prediction are essential for accelerating shape optimization, yet remain challenging to develop for complex three-dimensional configurations due to the high cost of generating training data.…