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

Diffusion models have demonstrated their powerful generative capability in many tasks, with great potential to serve as a paradigm for offline reinforcement learning. However, the quality of the diffusion model is limited by the…

We propose a method to learn explicit, class-conditioned spatial priors for object placement in natural scenes by distilling the implicit placement knowledge encoded in text-conditioned diffusion models. Prior work relies either on manually…

Traditional visual navigation methods of micro aerial vehicle (MAV) usually calculate a passable path that satisfies the constraints depending on a prior map. However, these methods have issues such as high demand for computing resources…

In this paper, we propose Skip-Plan, a condensed action space learning method for procedure planning in instructional videos. Current procedure planning methods all stick to the state-action pair prediction at every timestep and generate…

Sampling-based motion planners' testing environment (sbp-env) is a full feature framework to quickly test different sampling-based algorithms for motion planning. sbp-env focuses on the flexibility of tinkering with different aspects of the…

The primary goal of motion planning is to generate safe and efficient trajectories for vehicles. Traditionally, motion planning models are trained using imitation learning to mimic the behavior of human experts. However, these models often…

Accurate spatio-temporal prediction is crucial for the sustainable development of smart cities. However, current approaches often struggle to capture important spatio-temporal relationships, particularly overlooking global relations among…

As the foundation of driverless vehicle and intelligent robots, Simultaneous Localization and Mapping(SLAM) has attracted much attention these days. However, non-geometric modules of traditional SLAM algorithms are limited by data…

Diffusion models have emerged as dominant performers for image generation. To support training large diffusion models, this paper studies pipeline parallel training of diffusion models and proposes DiffusionPipe, a synchronous pipeline…

In scanning microscopy based imaging techniques, there is a need to develop novel data acquisition schemes that can reduce the time for data acquisition and minimize sample exposure to the probing radiation. Sparse sampling schemes are…

Diffusion models have recently emerged as powerful learners for simulation-based inference (SBI), enabling fast and accurate estimation of latent parameters from simulated and real data. Their score-based formulation offers a flexible way…

The class-conditional image generation based on diffusion models is renowned for generating high-quality and diverse images. However, most prior efforts focus on generating images for general categories, e.g., 1000 classes in ImageNet-1k. A…

Visual navigation, a fundamental challenge in mobile robotics, demands versatile policies to handle diverse environments. Classical methods leverage geometric solutions to minimize specific costs, offering adaptability to new scenarios but…

We introduce a method for real-time navigation and tracking with differentiably rendered world models. Learning models for control has led to impressive results in robotics and computer games, but this success has yet to be extended to…

We demonstrate how a sequence model and a sampling-based planner can influence each other to produce efficient plans and how such a model can automatically learn to take advantage of observations of the environment. Sampling-based planners…

Modeling the dynamic behavior of deformable objects is crucial for creating realistic digital worlds. While conventional simulations produce high-quality motions, their computational costs are often prohibitive. Subspace simulation…

Humans naturally rely on floor plans to navigate in unfamiliar environments, as they are readily available, reliable, and provide rich geometrical guidance. However, existing visual navigation settings overlook this valuable prior…

We introduce a learning-guided motion planning framework that generates seed trajectories using a diffusion model for trajectory optimization. Given a workspace, our method approximates the configuration space (C-space) obstacles through an…

For real-time multirotor kinodynamic motion planning, the efficiency of sampling-based methods is usually hindered by difficult-to-sample homotopy classes like narrow passages. In this paper, we address this issue by a hybrid scheme. We…

DNN-based methods have shown high performance in sound event localization and detection(SELD). While in real spatial sound scenes, reverberation and the imbalanced presence of various sound events increase the complexity of the SELD task.…