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

Denoising diffusion models have found applications in image segmentation by generating segmented masks conditioned on images. Existing studies predominantly focus on adjusting model architecture or improving inference, such as test-time…

Recent studies demonstrate that diffusion planners benefit from sparse-step planning over single-step planning. Training models to skip steps in their trajectories helps capture long-term dependencies without additional memory or…

Diffusion-based world models have shown strong potential for unified world simulation, but the iterative denoising remains too costly for interactive use and long-horizon rollouts. While feature caching can accelerate inference without…

The creativity of diffusion models refers to their ability to generate highly realistic images that are different from their training data. Creativity is somewhat surprising since it is known that if the denoiser used in the diffusion model…

Diffusion Policies have demonstrated impressive performance in robotic manipulation tasks. However, their long inference time, resulting from an extensive iterative denoising process, and the need to execute an action chunk before the next…

Diffusion models have demonstrated remarkable success in various image generation tasks, but their performance is often limited by the uniform processing of inputs across varying conditions and noise levels. To address this limitation, we…

With the development of research on novel memristor model and device, neural networks by integrating various memristor models have become a hot research topic recently. However, state-of-the-art works still build such neural networks using…

This paper proposes MATT-Diff: Multimodal Active Target Tracking by Diffusion Policy, a control policy for active multi-target tracking using a mobile agent. The policy enables multiple behavior modes for the agent, including exploration,…

Nominal payload ratings for articulated robots are typically derived from worst-case configurations, resulting in uniform payload constraints across the entire workspace. This conservative approach severely underutilizes the robot's…

Diffusion and flow matching models have achieved remarkable success in text-to-image generation. However, these models typically rely on the predetermined denoising schedules for all prompts. The multi-step reverse diffusion process can be…

In MRI, deep neural networks have been proposed to reconstruct diffusion model parameters. However, the inputs of the networks were designed for a specific diffusion gradient scheme (i.e., diffusion gradient directions and numbers) and a…

We propose Diffusion-Sharpening, a fine-tuning approach that enhances downstream alignment by optimizing sampling trajectories. Existing RL-based fine-tuning methods focus on single training timesteps and neglect trajectory-level alignment,…

In this paper, we point out that suboptimal noise-data mapping leads to slow training of diffusion models. During diffusion training, current methods diffuse each image across the entire noise space, resulting in a mixture of all images at…

We propose a novel hierarchical diffusion planner that embeds task and motion structure directly into the noise model. Unlike standard diffusion-based planners that rely on zero-mean, isotropic Gaussian corruption, we introduce…

We present DiPPeST, a novel image and goal conditioned diffusion-based trajectory generator for quadrupedal robot path planning. DiPPeST is a zero-shot adaptation of our previously introduced diffusion-based 2D global trajectory generator…

Diffusion models have become the dominant tool for high-fidelity image and video generation, yet are critically bottlenecked by their inference speed due to the numerous iterative passes of Diffusion Transformers. To reduce the exhaustive…

Moving object detection (MOD) in remote sensing is significantly challenged by low resolution, extremely small object sizes, and complex noise interference. Current deep learning-based MOD methods rely on probability density estimation,…

This paper presents a data-driven decentralized trajectory optimization approach for multi-robot motion planning in dynamic environments. When navigating in a shared space, each robot needs accurate motion predictions of neighboring robots…

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 excel at creating images and videos thanks to their multimodal generative capabilities. These same capabilities have made diffusion models increasingly popular in robotics research, where they are used for generating robot…