相关论文: DISK: Dynamic Inference SKipping for World Models

Today's robotic quadruped systems can robustly walk over a diverse range of rough but continuous terrains, where the terrain elevation varies gradually. Locomotion on discontinuous terrains, such as those with gaps or obstacles, presents a…

Diffusion Transformers (DiTs) have significantly enhanced text-to-image (T2I) generation quality, enabling high-quality personalized content creation. However, fine-tuning these models requires substantial computational complexity and…

In many real-world scenarios, we often deal with streaming data that is sequentially collected over time. Due to the non-stationary nature of the environment, the streaming data distribution may change in unpredictable ways, which is known…

We present 4DiM, a cascaded diffusion model for 4D novel view synthesis (NVS), supporting generation with arbitrary camera trajectories and timestamps, in natural scenes, conditioned on one or more images. With a novel architecture and…

Generative models have recently undergone significant advancement due to the diffusion models. The success of these models can be often attributed to their use of guidance techniques, such as classifier or classifier-free guidance, which…

Transformer-based diffusion models have achieved significant advancements across a variety of generative tasks. However, producing high-quality outputs typically necessitates large transformer models, which result in substantial training…

Diffusion models have been successfully adapted to text generation tasks by mapping the discrete text into the continuous space. However, there exist nonnegligible gaps between training and inference, owing to the absence of the forward…

Diffusion models are state-of-the-art generative models, yet their samples often fail to satisfy application objectives such as safety constraints or domain-specific validity. Existing techniques for alignment require gradients, internal…

Visuomotor imitation learning policies enable robots to efficiently acquire manipulation skills from visual demonstrations. However, as scene complexity and visual distractions increase, policies that perform well in simple settings often…

While diffusion models can successfully generate data and make predictions, they are predominantly designed for static images. We propose an approach for efficiently training diffusion models for probabilistic spatiotemporal forecasting,…

Diffusion Transformers (DiTs) achieve state-of-the-art generation quality but require long sequential denoising trajectories, leading to high inference latency. Recent speculative inference methods enable lossless parallel sampling in…

Diffusion models represent a powerful family of generative models widely used for image and video generation. However, the time-consuming deployment, long inference time, and requirements on large memory hinder their applications on…

Diffusion models have achieved remarkable success in generating high-fidelity content but suffer from slow, iterative sampling, resulting in high latency that limits their use in interactive applications. We introduce DRiffusion, a parallel…

Current video diffusion models achieve impressive generation quality but struggle in interactive applications due to bidirectional attention dependencies. The generation of a single frame requires the model to process the entire sequence,…

Video diffusion models have rich world priors, but their use in spatial tasks is limited by poor control, spatial-temporal inconsistent results, and entangled scene-camera dynamics. Current approaches, such as per-task fine-tuning or…

We present REWIND (Real-Time Egocentric Whole-Body Motion Diffusion), a one-step diffusion model for real-time, high-fidelity human motion estimation from egocentric image inputs. While an existing method for egocentric whole-body (i.e.,…

Diffusion Transformers (DiT)-based video generation models with 3D full attention exhibit strong generative capabilities. Trajectory control represents a user-friendly task in the field of controllable video generation. However, existing…

Unlike discriminative approaches in autonomous driving that predict a fixed set of candidate trajectories of the ego vehicle, generative methods, such as diffusion models, learn the underlying distribution of future motion, enabling more…

3D Gaussian Splatting (3DGS) achieves real-time novel-view synthesis by optimizing millions of anisotropic Gaussians, yet its training remains expensive, with the backward pass dominating runtime in the post-densification refinement phase.…

Augmenting vision-language-action models (VLAs) with world models is promising for robotic policy learning but faces challenges in jointly predicting states and actions due to the modality gap. To address this, we propose DUal-STream…