相关论文: Dynamic Neural Koopman Distillation for Real-Time …

Data-driven models for nonlinear dynamical systems based on approximating the underlying Koopman operator or generator have proven to be successful tools for forecasting, feature learning, state estimation, and control. It has become well…

Diffusion models have emerged as a promising approach for text generation, with recent works falling into two main categories: discrete and continuous diffusion models. Discrete diffusion models apply token corruption independently using…

The wide application of flow-matching methods has greatly promoted the development of robot imitation learning. However, these methods all face the problem of high inference time. To address this issue, researchers have proposed…

Large video diffusion and flow models have achieved remarkable success in high-quality video generation, but their use in real-time interactive applications remains limited due to their inefficient multi-step sampling process. In this work,…

This paper tackles the data-driven approximation of unknown dynamical systems using Koopman-operator methods. Given a dictionary of functions, these methods approximate the projection of the action of the operator on the finite-dimensional…

This work aims to improve the efficiency of text-to-image diffusion models. While diffusion models use computationally expensive UNet-based denoising operations in every generation step, we identify that not all operations are equally…

While diffusion models can learn complex distributions, sampling requires a computationally expensive iterative process. Existing distillation methods enable efficient sampling, but have notable limitations, such as performance degradation…

This work introduces DiffuseLoco, a framework for training multi-skill diffusion-based policies for dynamic legged locomotion from offline datasets, enabling real-time control of diverse skills on robots in the real world. Offline learning…

Standard Latent Diffusion Models rely on a complex, three-part architecture consisting of a separate encoder, decoder, and diffusion network, which are trained in multiple stages. This modular design is computationally inefficient, leads to…

In natural language processing (NLP) tasks, slow inference speed and huge footprints in GPU usage remain the bottleneck of applying pre-trained deep models in production. As a popular method for model compression, knowledge distillation…

Imitation learning is an efficient method for teaching robots a variety of tasks. Diffusion Policy, which uses a conditional denoising diffusion process to generate actions, has demonstrated superior performance, particularly in learning…

Diffusion Models (DMs), also referred to as score-based diffusion models, utilize neural networks to specify score functions. Unlike most other probabilistic models, DMs directly model the score functions, which makes them more flexible to…

Thanks to the powerful generative capacity of diffusion models, recent years have witnessed rapid progress in human motion generation. Existing diffusion-based methods employ disparate network architectures and training strategies. The…

In this paper, a novel approach is proposed for learning robot control in contact-rich tasks such as wiping, by developing Diffusion Contact Model (DCM). Previous methods of learning such tasks relied on impedance control with time-varying…

In this paper, we introduce YONOS-SR, a novel stable diffusion-based approach for image super-resolution that yields state-of-the-art results using only a single DDIM step. We propose a novel scale distillation approach to train our SR…

Diffusion models have emerged as a powerful class of generative models for molecular design, capable of capturing complex structural distributions and achieving high fidelity in 3D molecule generation. However, their widespread use remains…

Although multi-step generative policies achieve strong performance in robotic manipulation by modeling multimodal action distributions, they require multi-step iterative denoising at inference time. Each action therefore needs tens to…

The highly nonlinear dynamics of vehicles present a major challenge for the practical implementation of optimal and Model Predictive Control (MPC) approaches in path planning and following. Koopman operator theory offers a global linear…

A learning method is proposed for Koopman operator-based models with the goal of improving closed-loop control behavior. A neural network-based approach is used to discover a space of observables in which nonlinear dynamics is linearly…

Diffusion-based visuomotor policies effectively capture multimodal action distributions through iterative denoising, but their high inference latency limits real-time robotic control. Recent flow matching and consistency-based methods…