相关论文: Deterministic World Models for Verification of Clo…

In reinforcement learning (RL), world models serve as internal simulators, enabling agents to predict environment dynamics and future outcomes in order to make informed decisions. While previous approaches leveraging discrete latent spaces,…

In this paper, we present a novel approach to reconstruct a unique image of an observed scene with widely distributed radar sensors. The problem is posed as a constrained optimization problem in which the global image which represents the…

Planning with world models offers a powerful paradigm for robotic control. Conventional approaches train a model to predict future frames conditioned on current frames and actions, which can then be used for planning. However, the objective…

We provide a theoretical analysis for end-to-end training Discrete Flow Matching (DFM) generative models. DFM is a promising discrete generative modeling framework that learns the underlying generative dynamics by training a neural network…

Accurate and automated detection of anomalous samples in a natural image dataset can be accomplished with a probabilistic model for end-to-end modeling of images. Such images have heterogeneous complexity, however, and a probabilistic model…

We present LidarDM, a novel LiDAR generative model capable of producing realistic, layout-aware, physically plausible, and temporally coherent LiDAR videos. LidarDM stands out with two unprecedented capabilities in LiDAR generative…

In autonomous driving, predicting future events in advance and evaluating the foreseeable risks empowers autonomous vehicles to better plan their actions, enhancing safety and efficiency on the road. To this end, we propose Drive-WM, the…

Closed-loop simulation is essential for advancing end-to-end autonomous driving systems. Contemporary sensor simulation methods, such as NeRF and 3DGS, rely predominantly on conditions closely aligned with training data distributions, which…

Successful visual navigation depends upon capturing images that contain sufficient useful information. In this letter, we explore a data-driven approach to account for environmental lighting changes, improving the quality of images for use…

World models enable planning in imagined future predicted space, offering a promising framework for embodied navigation. However, existing navigation world models often lack action-conditioned consistency, so visually plausible predictions…

In this work, we introduce the Time-Aware World Model (TAWM), a model-based approach that explicitly incorporates temporal dynamics. By conditioning on the time-step size, {\Delta}t, and training over a diverse range of {\Delta}t values --…

World models are becoming central to robotic planning and control as they enable prediction of future state transitions. Existing approaches often emphasize video generation or natural-language prediction, which are difficult to ground in…

Precision in identifying nanometer-scale device-killer defects is crucial in both semiconductor research and development as well as in production processes. The effectiveness of existing ML-based approaches in this context is largely…

Deep generative models (DGMs) have the potential to revolutionize diagnostic imaging. Generative adversarial networks (GANs) are one kind of DGM which are widely employed. The overarching problem with deploying GANs, and other DGMs, in any…

Several families of continual learning techniques have been proposed to alleviate catastrophic interference in deep neural network training on non-stationary data. However, a comprehensive comparison and analysis of limitations remains…

Nonlinear, adaptive, or otherwise complex control techniques are increasingly relied upon to ensure the safety of systems operating in uncertain environments. However, the nonlinearity of the resulting closed-loop system complicates…

In this paper, we present the Directly Denoising Diffusion Model (DDDM): a simple and generic approach for generating realistic images with few-step sampling, while multistep sampling is still preserved for better performance. DDDMs require…

World models have become a central paradigm for learning predictive simulators that support generation, planning, and decision-making. Yet, despite rapid progress in industry-scale interactive video generation, the broader research…

Generative models such as diffusion models, excel at capturing high-dimensional distributions with diverse input modalities, e.g. robot trajectories, but are less effective at multi-step constraint reasoning. Task and Motion Planning (TAMP)…

World models that forecast environmental changes from actions are vital for autonomous driving models with strong generalization. The prevailing driving world model mainly build on video prediction model. Although these models can produce…