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

We consider the problems of learning forward models that map state to high-dimensional images and inverse models that map high-dimensional images to state in robotics. Specifically, we present a perceptual model for generating video frames…

Received waveforms contain rich information for both range information and environment semantics. However, its full potential is hard to exploit under multipath and non-line-of-sight conditions. This paper proposes a deep generative model…

Denoising diffusion probabilistic models (DDPMs) have achieved high quality image generation without adversarial training, yet they require simulating a Markov chain for many steps to produce a sample. To accelerate sampling, we present…

Enabling embodied agents to imagine future states is essential for robust and generalizable visual navigation. Yet, state-of-the-art systems typically rely on modular designs that decouple navigation planning from visual world modeling,…

General-purpose world models promise scalable policy evaluation, optimization, and planning, yet achieving the required level of robustness remains challenging. Unlike policy learning, which primarily focuses on optimal actions, a world…

In this paper we investigate to which extent a very simple and natural "reachability as deducibility" approach, originated in the research in formal methods in security, is applicable to the automated verification of large classes of…

Diffusion models have emerged as a powerful class of generative models for molecular design, capable of capturing complex structural distributions and achieving high fidelity in 3D molecule generation. However, their widespread use remains…

Deep Markov models (DMM) are generative models that are scalable and expressive generalization of Markov models for representation, learning, and inference problems. However, the fundamental stochastic stability guarantees of such models…

Generalist robot policies can now perform a wide range of manipulation skills, but evaluating and improving their ability with unfamiliar objects and instructions remains a significant challenge. Rigorous evaluation requires a large number…

Despite impressive progress in video generation, existing models remain limited to surface-level plausibility, lacking a coherent and unified understanding of the world. Prior approaches typically incorporate only a single form of…

Testing remains the primary method to evaluate the accuracy of neural network perception systems. Prior work on the formal verification of neural network perception models has been limited to notions of local adversarial robustness for…

World models have recently re-emerged as a central paradigm for embodied intelligence, robotics, autonomous driving, and model-based reinforcement learning. However, current world model research is often dominated by three partially…

Many interesting tasks in image restoration can be cast as linear inverse problems. A recent family of approaches for solving these problems uses stochastic algorithms that sample from the posterior distribution of natural images given the…

Robust efficient loop closure detection is essential for large-scale real-time SLAM. In this paper, we propose a novel unsupervised deep neural network architecture of a feature embedding for visual loop closure that is both reliable and…

As latent diffusion models (LDMs) democratize image generation capabilities, there is a growing need to detect fake images. A good detector should focus on the generative models fingerprints while ignoring image properties such as semantic…

Image anomaly detection plays a vital role in applications such as industrial quality inspection and medical imaging, where it directly contributes to improving product quality and system reliability. However, existing methods often…

A deep generative model is developed for representation and analysis of images, based on a hierarchical convolutional dictionary-learning framework. Stochastic {\em unpooling} is employed to link consecutive layers in the model, yielding…

World models can foresee the outcomes of different actions, which is of paramount importance for autonomous driving. Nevertheless, existing driving world models still have limitations in generalization to unseen environments, prediction…

Image generation today can produce somewhat realistic images from text prompts. However, if one asks the generator to synthesize a specific camera setting such as creating different fields of view using a 24mm lens versus a 70mm lens, the…

We present a novel generative approach based on Denoising Diffusion Models (DDMs), which produces high-quality image samples along with their losslessly compressed bit-stream representations. This is obtained by replacing the standard…