相关论文: SanD-Planner: Sample-Efficient Diffusion Planner i…

This paper introduces a learning-based visual planner for agile drone flight in cluttered environments. The proposed planner generates collision-free waypoints in milliseconds, enabling drones to perform agile maneuvers in complex…

Significant strides have been made using large vision-language models, like Stable Diffusion (SD), for a variety of downstream tasks, including image editing, image correspondence, and 3D shape generation. Inspired by these advancements, we…

Discrete diffusion models (DDMs) have shown powerful generation ability for discrete data modalities like text and molecules. However, their practical application is hindered by inefficient sampling, requiring a large number of sampling…

Accurate trajectory prediction and motion planning are crucial for autonomous driving systems to navigate safely in complex, interactive environments characterized by multimodal uncertainties. However, current generation-then-evaluation…

In order to address the scalability challenge within Neural Architecture Search (NAS), we speed up NAS training via dynamic hard example mining within a curriculum learning framework. By utilizing an autoencoder that enforces an image…

State-of-the-art techniques of artificial intelligence, in particular deep learning, are mostly data-driven. However, collecting and manually labeling a large scale dataset is both difficult and expensive. A promising alternative is to…

Existing deep embedding methods in vision tasks are capable of learning a compact Euclidean space from images, where Euclidean distances correspond to a similarity metric. To make learning more effective and efficient, hard sample mining is…

Being able to rapidly respond to the changing scenes and traffic situations by generating feasible local paths is of pivotal importance for car autonomy. We propose to train a deep neural network (DNN) to plan feasible and nearly-optimal…

Diffusion models achieve strong generative performance but often rely on large datasets that may include sensitive content. This challenge is compounded by the models' tendency to memorize training data, raising privacy concerns. SFBD (Lu…

Fast and efficient semantic segmentation of large-scale LiDAR point clouds is a fundamental problem in autonomous driving. To achieve this goal, the existing point-based methods mainly choose to adopt Random Sampling strategy to process…

Pansharpening seeks to fuse high-resolution panchromatic (PAN) and low-resolution multispectral (LRMS) images into a single image with both fine spatial and rich spectral detail. Despite progress in deep learning-based approaches, existing…

Recent advances in diffusion models have opened new avenues for research into embodied AI agents and robotics. Despite significant achievements in complex robotic locomotion and skills, mobile manipulation-a capability that requires the…

This paper presents a learning-based extension to a Circular Field (CF)-based motion planner for efficient, collision-free trajectory generation in cluttered environments. The proposed approach overcomes the limitations of hand-tuned force…

Diffusion models have recently achieved remarkable performance in image super-resolution (SR), but their high computational cost limits practical deployment in remote sensing applications. To address this issue, we propose SlimDiffSR, a…

In this paper, we propose a novel and generalizable zero-shot knowledge transfer framework that distills expert sports navigation strategies from web videos into robotic systems with adversarial constraints and out-of-distribution image…

We present a mapping system capable of constructing detailed instance-level semantic models of room-sized indoor environments by means of an RGB-D camera. In this work, we integrate deep-learning-based instance segmentation and…

While Unmanned Aerial Vehicles (UAVs) have gained significant traction across various fields, path planning in 3D environments remains a critical challenge, particularly under size, weight, and power (SWAP) constraints. Traditional modular…

Diffusion models have shown strong competitiveness in offline reinforcement learning tasks by formulating decision-making as sequential generation. However, the practicality of these methods is limited due to the lengthy inference processes…

We propose an algorithm to (i) learn online a deep signed distance function (SDF) with a LiDAR-equipped robot to represent the 3D environment geometry, and (ii) plan collision-free trajectories given this deep learned map. Our algorithm…

Current robotic manipulators require fast and efficient motion-planning algorithms to operate in cluttered environments. State-of-the-art sampling-based motion planners struggle to scale to high-dimensional configuration spaces and are…