相关论文: Hybrid Perception and Equivariant Diffusion for Ro…

Decentralized multi-robot motion planning requires each robot to generate collision-free trajectories from local observations, without global sensing or reliable communication. However, most existing planners, whether classical or…

Diffusion-based robot navigation policies trained on large-scale imitation learning datasets, can generate multi-modal trajectories directly from the robot's visual observations, bypassing the traditional localization-mapping-planning…

Safe trajectory planning in complex environments must balance stringent collision avoidance with real-time efficiency, which is a long-standing challenge in robotics. In this work, we present a diffusion-based trajectory planning framework…

Achieving human-like driving behaviors in complex open-world environments is a critical challenge in autonomous driving. Contemporary learning-based planning approaches such as imitation learning methods often struggle to balance competing…

Beyond high-fidelity image synthesis, diffusion models have recently exhibited promising results in dense visual perception tasks. However, most existing work treats diffusion models as a standalone component for perception tasks, employing…

Vision-based policies have achieved a good performance in robotic manipulation due to the accessibility and richness of visual observations. However, purely visual sensing becomes insufficient in contact-rich and force-sensitive tasks where…

Predicting human motion plays a crucial role in ensuring a safe and effective human-robot close collaboration in intelligent remanufacturing systems of the future. Existing works can be categorized into two groups: those focusing on…

The remarkable capabilities of pretrained image diffusion models have been utilized not only for generating fixed-size images but also for creating panoramas. However, naive stitching of multiple images often results in visible seams.…

Constructing robots to accomplish long-horizon tasks is a long-standing challenge within artificial intelligence. Approaches using generative methods, particularly Diffusion Models, have gained attention due to their ability to model…

Autonomous driving requires an understanding of the static environment from sensor data. Learned Bird's-Eye View (BEV) encoders are commonly used to fuse multiple inputs, and a vector decoder predicts a vectorized map representation from…

Simulating spatiotemporal turbulence with high fidelity remains a cornerstone challenge in computational fluid dynamics (CFD) due to its intricate multiscale nature and prohibitive computational demands. Traditional approaches typically…

Achieving high-quality High Dynamic Range (HDR) imaging on resource-constrained edge devices is a critical challenge in computer vision, as its performance directly impacts downstream tasks such as intelligent surveillance and autonomous…

Deep learning is providing a wealth of new approaches to the problem of novel view synthesis, from Neural Radiance Field (NeRF) based approaches to end-to-end style architectures. Each approach offers specific strengths but also comes with…

Identifying robust and accurate correspondences across images is a fundamental problem in computer vision that enables various downstream tasks. Recent semi-dense matching methods emphasize the effectiveness of fusing relevant cross-view…

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…

Diffusion models have recently gained significant attention in robotics due to their ability to generate multi-modal distributions of system states and behaviors. However, a key challenge remains: ensuring precise control over the generated…

Diffusion Policies are effective at learning closed-loop manipulation policies from human demonstrations but generalize poorly to novel arrangements of objects in 3D space, hurting real-world performance. To address this issue, we propose…

Although multi-task learning is widely applied in intelligent services, traditional multi-task modeling methods often require customized designs based on specific task combinations, resulting in a cumbersome modeling process. Inspired by…

Deep learning-based techniques for the analysis of multimodal remote sensing data have become popular due to their ability to effectively integrate complementary spatial, spectral, and structural information from different sensors.…

Diffusion-weighted magnetic resonance imaging (DW-MRI) is a critical imaging method for capturing and modeling tissue microarchitecture at a millimeter scale. A common practice to model the measured DW-MRI signal is via fiber orientation…