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

Motion prediction is a challenging problem in autonomous driving as it demands the system to comprehend stochastic dynamics and the multi-modal nature of real-world agent interactions. Diffusion models have recently risen to prominence, and…

Diffusion models have demonstrated remarkable efficacy in various generative tasks with the predictive prowess of denoising model. Currently, diffusion models employ a uniform denoising model across all timesteps. However, the inherent…

Learning based multi-robot path planning methods struggle to scale or generalize to changes, particularly variations in the number of robots during deployment. Most existing methods are trained on a fixed number of robots and may tolerate a…

Despite the remarkable generation capabilities of Diffusion Models (DMs), conducting training and inference remains computationally expensive. Previous works have been devoted to accelerating diffusion sampling, but achieving data-efficient…

Due to network operation and maintenance relying heavily on network traffic monitoring, traffic matrix analysis has been one of the most crucial issues for network management related tasks. However, it is challenging to reliably obtain the…

Safe swarm navigation in cluttered indoor environment requires long-horizon planning, reactive obstacle avoidance, and adaptive compliance. We propose ImpedanceDiffusion, a hierarchical framework that leverages image-conditioned…

Mastering dexterous robotic manipulation of deformable objects is vital for overcoming the limitations of parallel grippers in real-world applications. Current trajectory optimisation approaches often struggle to solve such tasks due to the…

Physics-informed neural networks (PINNs) offer a powerful framework for seismic wavefield modeling, yet they typically require time-consuming retraining when applied to different velocity models. Moreover, their training can suffer from…

The conditional diffusion model has been demonstrated as an efficient tool for learning robot policies, owing to its advancement to accurately model the conditional distribution of policies. The intricate nature of real-world scenarios,…

Large denoising diffusion models, such as Stable Diffusion, have been trained on billions of image-caption pairs to perform text-conditioned image generation. As a byproduct of this training, these models have acquired general knowledge…

The relentless expansion of deep learning applications in recent years has prompted a pivotal shift toward on-device execution, driven by the urgent need for real-time processing, heightened privacy concerns, and reduced latency across…

Trajectory generation for mobile robots in unstructured environments faces a critical dilemma: balancing kinematic smoothness for safe execution with terminal precision for fine-grained tasks. Existing generative planners often struggle…

The deployment flexibility and maneuverability of Unmanned Aerial Vehicles (UAVs) increased their adoption in various applications, such as wildfire tracking, border monitoring, etc. In many critical applications, UAVs capture images and…

Accurate prediction of mobile traffic, i.e., network traffic from cellular base stations, is crucial for optimizing network performance and supporting urban development. However, the non-stationary nature of mobile traffic, driven by human…

The widespread use of GPS devices has driven advances in spatiotemporal data mining, enabling machine learning models to simulate human decision making and generate realistic trajectories, addressing both data collection costs and privacy…

Image-based motion prediction is one of the essential techniques for robot manipulation. Among the various prediction models, we focus on diffusion models because they have achieved state-of-the-art performance in various applications. In…

Diffusion models have demonstrated highly-expressive generative capabilities in vision and NLP. Recent studies in reinforcement learning (RL) have shown that diffusion models are also powerful in modeling complex policies or trajectories in…

Diffusion models have revolutionized generative tasks, especially in the domain of text-to-image synthesis; however, their iterative denoising process demands substantial computational resources. In this paper, we present a novel…

Deploying large, complex policies in the real world requires the ability to steer them to fit the needs of a situation. Most common steering approaches, like goal-conditioning, require training the robot policy with a distribution of…

Learning robot policies that capture multimodality in the training data has been a long-standing open challenge for behavior cloning. Recent approaches tackle the problem by modeling the conditional action distribution with generative…