相关论文: Muninn: Your Trajectory Diffusion Model But Faster

Diffusion model-based approaches have shown promise in data-driven planning, but there are no safety guarantees, thus making it hard to be applied for safety-critical applications. To address these challenges, we propose a new method,…

The diffusion model has shown success in generating high-quality and diverse solutions to trajectory optimization problems. However, diffusion models with neural networks inevitably make prediction errors, which leads to constraint…

Diffusion transformer (DiT) achieves remarkable performance in visual generation, but its iterative denoising process combined with larger capacity leads to a high inference cost. Recent works have demonstrated that the iterative denoising…

Diffusion models produce high quality images but inference is costly due to many denoising steps and heavy matrix operations. We present DiffPro, a post-training, hardware-faithful framework that works with the exact integer kernels used in…

Diffusion models have recently shown promise in offline RL. However, these methods often suffer from high training costs and slow convergence, particularly when using transformer-based denoising backbones. While several optimization…

Diffusion models have emerged as powerful generative frameworks by progressively adding noise to data through a forward process and then reversing this process to generate realistic samples. While these models have achieved strong…

We present a learning-enhanced motion planner for differential drive mobile manipulators to improve efficiency, success rate, and optimality. For task representation encoder, we propose a keypoint sequence extraction module that maps…

Diffusion-based planners have emerged as a promising approach for human-like trajectory generation in autonomous driving. Recent works incorporate reinforcement fine-tuning to enhance the robustness of diffusion planners through…

Although diffusion models have achieved strong results in decision-making tasks, their slow inference speed remains a key limitation. While consistency models offer a potential solution, existing applications to decision-making either…

Diffusion models are emerging expressive generative models, in which a large number of time steps (inference steps) are required for a single image generation. To accelerate such tedious process, reducing steps uniformly is considered as an…

Robots in the real world need to perceive and move to goals in complex environments without collisions. Avoiding collisions is especially difficult when relying on sensor perception and when goals are among clutter. Diffusion policies and…

Diffusion models have proven to be highly effective in generating high-quality images. However, adapting large pre-trained diffusion models to new domains remains an open challenge, which is critical for real-world applications. This paper…

Diffusion models have recently been successfully applied to a wide range of robotics applications for learning complex multi-modal behaviors from data. However, prior works have mostly been confined to single-robot and small-scale…

The increased model capacity of Diffusion Transformers (DiTs) and the demand for generating higher resolutions of images and videos have led to a significant rise in inference latency, impacting real-time performance adversely. While prior…

Diffusion models have achieved remarkable progress in the field of image generation due to their outstanding capabilities. However, these models require substantial computing resources because of the multi-step denoising process during…

Video generation using diffusion-based models is constrained by high computational costs due to the frame-wise iterative diffusion process. This work presents a Diffusion Reuse MOtion (Dr. Mo) network to accelerate latent video generation.…

Diffusion planning has been recognized as an effective decision-making paradigm in various domains. The capability of generating high-quality long-horizon trajectories makes it a promising research direction. However, existing diffusion…

One of the bottlenecks in robotic intelligence is the instability of neural network models, which, unlike control models, lack a well-defined convergence domain and stability. This leads to risks when applying intelligence in the physical…

Diffusion Policies have become widely used in Imitation Learning, offering several appealing properties, such as generating multimodal and discontinuous behavior. As models are becoming larger to capture more complex capabilities, their…

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…