相关论文: FlowDrive: moderated flow matching with data balan…

Recently, the rectified flow (RF) has emerged as the new state-of-the-art among flow-based diffusion models due to its high efficiency advantage in straight path sampling, especially with the amazing images generated by a series of RF…

Flow-matching-based policies have recently emerged as a promising approach for learning-based robot manipulation, offering significant acceleration in action sampling compared to diffusion-based policies. However, conventional flow-matching…

This paper presents a technique to cope with the gap between high-level planning, e.g., reference trajectory tracking, and low-level controlling using a learning-based method in the plan-based control paradigm. The technique improves the…

Multi-robot control in cluttered environments is a challenging problem that involves complex physical constraints, including robot-robot collisions, robot-obstacle collisions, and unreachable motions. Successful planning in such settings…

Recent applications of deep learning to navigation have generated end-to-end navigation solutions whereby visual sensor input is mapped to control signals or to motion primitives. The resulting visual navigation strategies work very well at…

Current autonomous driving systems often favor end-to-end frameworks, which take sensor inputs like images and learn to map them into trajectory space via neural networks. Previous work has demonstrated that models can achieve better…

Although planning is a crucial component of the autonomous driving stack, researchers have yet to develop robust planning algorithms that are capable of safely handling the diverse range of possible driving scenarios. Learning-based…

Finding a suitable layout represents a crucial task for diverse applications in graphic design. Motivated by simpler and smoother sampling trajectories, we explore the use of Flow Matching as an alternative to current diffusion-based layout…

Modern motion planners for autonomous driving frequently use imitation learning (IL) to draw from expert driving logs. Although IL benefits from its ability to glean nuanced and multi-modal human driving behaviors from large datasets, the…

By framing reinforcement learning as a sequence modeling problem, recent work has enabled the use of generative models, such as diffusion models, for planning. While these models are effective in predicting long-horizon state trajectories…

The primary goal of motion planning is to generate safe and efficient trajectories for vehicles. Traditionally, motion planning models are trained using imitation learning to mimic the behavior of human experts. However, these models often…

Flow matching (FM) learns vector fields by regressing stochastic velocity targets along intermediate distributions $p_t$. We identify a geometric optimization bottleneck in this regression problem: when the covariance $\Sigma_t$ of $p_t$ is…

Flow matching (FM) has shown promising results in data-driven planning. However, it inherently lacks formal guarantees for ensuring state and action constraints, whose satisfaction is a fundamental and crucial requirement for the safety and…

Flow matching has recently emerged as a powerful paradigm for generative modeling and has been extended to probabilistic time series forecasting in latent spaces. However, the impact of the specific choice of probability path model on…

Understanding and adhering to soft constraints is essential for safe and socially compliant autonomous driving. However, such constraints are often implicit, context-dependent, and difficult to specify explicitly. In this work, we present…

Real-world autonomous driving systems must make safe decisions in the face of rare and diverse traffic scenarios. Current state-of-the-art planners are mostly evaluated on real-world datasets like nuScenes (open-loop) or nuPlan…

Combining motion prediction and motion planning offers a promising framework for enhancing interactions between automated vehicles and other traffic participants. However, this introduces challenges in conditioning predictions on navigation…

Diffusion and flow matching policies have recently demonstrated remarkable performance in robotic applications by accurately capturing multimodal robot trajectory distributions. However, their computationally expensive inference, due to the…

Simulating trajectories of dynamical systems is a fundamental problem in a wide range of fields such as molecular dynamics, biochemistry, and pedestrian dynamics. Machine learning has become an invaluable tool for scaling physics-based…

While flow matching is elegant, its reliance on single-sample conditional velocities leads to high-variance training targets that destabilize optimization and slow convergence. By explicitly characterizing this variance, we identify 1) a…