相关论文: Diverse Yet Consistent: Context-Guided Diffusion w…
Predicting human motion plays a crucial role in ensuring a safe and effective human-robot close collaboration in intelligent remanufacturing systems of the future. Existing works can be categorized into two groups: those focusing on…
Forecasting a typical object's future motion is a critical task for interpreting and interacting with dynamic environments in computer vision. Event-based sensors, which could capture changes in the scene with exceptional temporal…
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…
Generating long-term, coherent, and realistic music-conditioned dance sequences remains a challenging task in human motion synthesis. Existing approaches exhibit critical limitations: motion graph methods rely on fixed template libraries,…
Unlike discriminative approaches in autonomous driving that predict a fixed set of candidate trajectories of the ego vehicle, generative methods, such as diffusion models, learn the underlying distribution of future motion, enabling more…
Predicting future motions of road participants is an important task for driving autonomously. Most existing models excel at predicting the marginal trajectory of a single agent, but predicting joint trajectories for multiple agents that are…
In this paper, we present a novel trajectory prediction model for autonomous driving, combining a Characterized Diffusion Module and a Spatial-Temporal Interaction Network to address the challenges posed by dynamic and heterogeneous traffic…
Classical paradigms for distributed learning, such as federated or decentralized gradient descent, employ consensus mechanisms to enforce homogeneity among agents. While these strategies have proven effective in i.i.d. scenarios, they can…
Diffusion models have recently gained significant attention in robotics due to their ability to generate multi-modal distributions of system states and behaviors. However, a key challenge remains: ensuring precise control over the generated…
Bimanual manipulation is crucial in robotics, enabling complex tasks in industrial automation and household services. However, it poses significant challenges due to the high-dimensional action space and intricate coordination requirements.…
Sequential decision-making is desired to align with human intents and exhibit versatility across various tasks. Previous methods formulate it as a conditional generation process, utilizing return-conditioned diffusion models to directly…
By framing reinforcement learning as a sequence modeling problem, recent work has enabled the use of generative models, such as diffusion models, for planning. While these models are effective in predicting long-horizon state trajectories…
Recent work has explored a range of model families for human motion generation, including Variational Autoencoders (VAEs), Generative Adversarial Networks (GANs), and diffusion-based models. Despite their differences, many methods rely on…
Off-dynamics offline reinforcement learning seeks to learn a target-domain policy from a large source dataset and a limited target dataset under mismatched transition dynamics. Existing approaches such as reward augmentation and data…
Human motions are compositional: complex behaviors can be described as combinations of simpler primitives. However, existing approaches primarily focus on forward modeling, e.g., learning holistic mappings from text to motion or composing a…
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,…
Motion in-betweening, a fundamental task in character animation, consists of generating motion sequences that plausibly interpolate user-provided keyframe constraints. It has long been recognized as a labor-intensive and challenging…
There has been substantial progress in humanoid robots, with new skills continuously being taught, ranging from navigation to manipulation. While these abilities may seem impressive, the teaching methods often remain inefficient. To enhance…
Modeling realistic and interactive multi-agent behavior is critical to autonomous driving and traffic simulation. However, existing diffusion and autoregressive approaches are limited by iterative sampling, sequential decoding, or…
While diffusion models can successfully generate data and make predictions, they are predominantly designed for static images. We propose an approach for efficiently training diffusion models for probabilistic spatiotemporal forecasting,…