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

Path planning plays an important role in autonomous robot systems. Effective understanding of the surrounding environment and efficient generation of optimal collision-free path are both critical parts for solving path planning problem.…

In this paper we describe a novel framework for diffusion-based generative modeling on constrained spaces. In particular, we introduce manual bridges, a framework that expands the kinds of constraints that can be practically used to form…

Grasping is a fundamental robot skill, yet despite significant research advancements, learning-based 6-DOF grasping approaches are still not turnkey and struggle to generalize across different embodiments and in-the-wild settings. We build…

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…

Diffusion-based trajectory planners can synthesize rich, multimodal action sequences for offline reinforcement learning, but their iterative denoising incurs substantial inference-time cost, making closed-loop planning slow under tight…

Effective trajectory generation is essential for reliable on-board spacecraft autonomy. Among other approaches, learning-based warm-starting represents an appealing paradigm for solving the trajectory generation problem, effectively…

This paper presents a novel method for accelerating path planning tasks in unknown scenes with obstacles by utilizing Wasserstein Generative Adversarial Networks (WGANs) with Gradient Penalty (GP) to approximate the distribution of the free…

Despite the recent success of modern imitation learning methods in robot manipulation, their performance is often constrained by geometric variations due to limited data diversity. Leveraging powerful 3D generative models and vision…

Diffusion models have made significant strides in language-driven and layout-driven image generation. However, most diffusion models are limited to visible RGB image generation. In fact, human perception of the world is enriched by diverse…

Can a text-to-image diffusion model be used as a training objective for adapting a GAN generator to another domain? In this paper, we show that the classifier-free guidance can be leveraged as a critic and enable generators to distill…

We present a diffusion-based framework for document-centric background generation that achieves foreground preservation and multi-page stylistic consistency through latent-space design rather than explicit constraints. Instead of…

Trajectory prediction and generation are crucial for autonomous robots in dynamic environments. While prior research has typically focused on either prediction or generation, our approach unifies these tasks to provide a versatile framework…

Training robust learning algorithms across different medical imaging modalities is challenging due to the large domain gap. Unsupervised domain adaptation (UDA) mitigates this problem by using annotated images from the source domain and…

Guiding Vector Fields (GVFs) are a powerful tool for robotic path following. However, classical methods assume smooth, ordered curves and fail when paths are unordered, multi-branch, or generated by probabilistic models. We propose a…

In recent years, various state of the art autonomous vehicle systems and architectures have been introduced. These methods include planners that depend on high-definition (HD) maps and models that learn an autonomous agent's controls in an…

Precise modeling of microscopic vehicle trajectories is critical for traffic behavior analysis and autonomous driving systems. We propose Ctx2TrajGen, a context-aware trajectory generation framework that synthesizes realistic urban driving…

Safety-critical scenarios are infrequent in natural driving environments but hold significant importance for the training and testing of autonomous driving systems. The prevailing approach involves generating safety-critical scenarios…

Typical diffusion models are trained to accept a particular form of conditioning, most commonly text, and cannot be conditioned on other modalities without retraining. In this work, we propose a universal guidance algorithm that enables…

Existing traffic simulation models often fall short in capturing the intricacies of real-world scenarios, particularly the interactive behaviors among multiple traffic participants, thereby limiting their utility in the evaluation and…

Generative AI has redefined artificial intelligence, enabling the creation of innovative content and customized solutions that drive business practices into a new era of efficiency and creativity. In this paper, we focus on diffusion…