相关论文: DiffusionDriveV2: Reinforcement Learning-Constrain…

As deep generative models proliferate across the AI landscape, industrial practitioners still face critical yet unanswered questions about which deep generative models best suit complex manufacturing design tasks. This work addresses this…

In autonomous driving, dynamic environment and corner cases pose significant challenges to the robustness of ego vehicle's decision-making. To address these challenges, commencing with the representation of state-action mapping in the…

Diffusion models (DMs) have revolutionized generative learning. They utilize a diffusion process to encode data into a simple Gaussian distribution. However, encoding a complex, potentially multimodal data distribution into a single…

Diffusion models have garnered widespread attention in Reinforcement Learning (RL) for their powerful expressiveness and multimodality. It has been verified that utilizing diffusion policies can significantly improve the performance of RL…

End-to-end autonomous driving remains constrained by the difficulty of producing adaptive, robust, and interpretable decision-making across diverse scenarios. Existing methods often collapse diverse driving behaviors, lack long-horizon…

Diffusion models have been widely studied for removing unsafe content learned during pre-training. Existing methods require expensive supervised data, either unsafe-text paired with safe-image groundtruth or negative/positive image pairs,…

We present a learning-enhanced motion planner for differential drive mobile manipulators to improve efficiency, success rate, and optimality. For task representation encoder, we propose a keypoint sequence extraction module that maps…

Diffusion models have demonstrated remarkable success in various visual generation tasks, including image, video, and 3D content generation. Preference optimization (PO) is a prominent and growing area of research that aims to align these…

Accurate pedestrian trajectory prediction is crucial for ensuring safety and efficiency in autonomous driving and human-robot interaction scenarios. Earlier studies primarily utilized sufficient observational data to predict future…

Robust control policy learning for autonomous driving requires training environments to be both physically realistic and computationally scalable, properties that existing simulators provide only in isolation. We introduce Sim2Sim2Sim, a…

Diffusion Probabilistic Models (DPMs) are powerful generative models that have achieved unparalleled success in a number of generative tasks. In this work, we aim to build inductive biases into the training and sampling of diffusion models…

Diffusion models (DMs) are a powerful generative framework that have attracted significant attention in recent years. However, the high computational cost of training DMs limits their practical applications. In this paper, we start with a…

Recent advances in motion planning for autonomous driving have led to models capable of generating high-quality trajectories. However, most existing planners tend to fix their policy after supervised training, leading to consistent but…

Dataset distillation enables the training of deep neural networks with comparable performance in significantly reduced time by compressing large datasets into small and representative ones. Although the introduction of generative models has…

Diffusion models have become the go-to method for large-scale generative models in real-world applications. These applications often involve data distributions confined within bounded domains, typically requiring ad-hoc thresholding…

We propose GoalFlow, an end-to-end autonomous driving method for generating high-quality multimodal trajectories. In autonomous driving scenarios, there is rarely a single suitable trajectory. Recent methods have increasingly focused on…

Diffusion-based generative models have exhibited powerful generative performance in recent years. However, as many attributes exist in the data distribution and owing to several limitations of sharing the model parameters across all levels…

Diffusion-based generative models learn to iteratively transfer unstructured noise to a complex target distribution as opposed to Generative Adversarial Networks (GANs) or the decoder of Variational Autoencoders (VAEs) which produce samples…

Diffusion models have demonstrated significant promise in various generative tasks; however, they often struggle to satisfy challenging constraints. Our approach addresses this limitation by rethinking training-free loss-guided diffusion…

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…