相关论文: A Cross-Environment and Cross-Embodiment Path Plan…

Machine learning has demonstrated remarkable promise for solving the trajectory generation problem and in paving the way for online use of trajectory optimization for resource-constrained spacecraft. However, a key shortcoming in current…

Planning is a critical component of end-to-end autonomous driving. However, prevailing imitation learning methods often suffer from mode collapse, failing to produce diverse trajectory hypotheses. Meanwhile, existing generative approaches…

This work introduces the conditioned Vehicle Motion Diffusion (cVMD) model, a novel network architecture for highway trajectory prediction using diffusion models. The proposed model ensures the drivability of the predicted trajectory by…

Dexterous grasp generation is a fundamental challenge in robotics, requiring both grasp stability and adaptability across diverse objects and tasks. Analytical methods ensure stable grasps but are inefficient and lack task adaptability,…

For tasks conducted in unknown environments with efficiency requirements, real-time navigation of multi-robot systems remains challenging due to unfamiliarity with surroundings.In this paper, we propose a novel multi-robot collaborative…

Generative models have emerged as powerful tools for planning, with compositional approaches offering particular promise for modeling long-horizon task distributions by composing together local, modular generative models. This compositional…

Goal-conditioned navigation models for ground robots trained using supervised learning show promising zero-shot transfer, but their collision-avoidance capability nevertheless degrades under distribution shift, i.e. environmental, robot or…

Accurate trajectory prediction is fundamental to autonomous driving, as it underpins safe motion planning and collision avoidance in complex environments. However, existing benchmark datasets suffer from a pronounced long-tail distribution…

The availability of data is limited in some fields, especially for object detection tasks, where it is necessary to have correctly labeled bounding boxes around each object. A notable example of such data scarcity is found in the domain of…

Mobile robot navigation in dynamic environments with pedestrian traffic is a key challenge in the development of autonomous mobile service robots. Recently, deep reinforcement learning-based methods have been actively studied and have…

This paper introduces a comprehensive planning and navigation framework that address these limitations by integrating semantic mapping, adaptive coverage planning, dynamic obstacle avoidance and precise trajectory tracking. Our framework…

Generative modeling within constrained sets is essential for scientific and engineering applications involving physical, geometric, or safety requirements (e.g., molecular generation, robotics). We present a unified framework for…

Classifier-free guidance (CFG) has become an essential component of modern diffusion models to enhance both generation quality and alignment with input conditions. However, CFG requires specific training procedures and is limited to…

Creating large-scale datasets for training high-performance generative models is often prohibitively expensive, especially when associated attributes or annotations must be provided. As a result, merging existing datasets has become a…

We present LTM3D, a Latent Token space Modeling framework for conditional 3D shape generation that integrates the strengths of diffusion and auto-regressive (AR) models. While diffusion-based methods effectively model continuous latent…

We explore Bird's-Eye View (BEV) generation, converting a BEV map into its corresponding multi-view street images. Valued for its unified spatial representation aiding multi-sensor fusion, BEV is pivotal for various autonomous driving…

We introduce a diffusion-based cross-domain image translator in the absence of paired training data. Unlike GAN-based methods, our approach integrates diffusion models to learn the image translation process, allowing for more coverable…

We train a feed-forward text-to-3D diffusion generator for human characters using only single-view 2D data for supervision. Existing 3D generative models cannot yet match the fidelity of image or video generative models. State-of-the-art 3D…

Modern learning-based approaches to 3D-aware image synthesis achieve high photorealism and 3D-consistent viewpoint changes for the generated images. Existing approaches represent instances in a shared canonical space. However, for…

Over the past decade, neural network solvers powered by generative artificial intelligence have garnered significant attention in the domain of vehicle routing problems (VRPs), owing to their exceptional computational efficiency and…