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

We present a low-rank Koopman operator formulation for accelerating deformable subspace simulation. Using a Dynamic Mode Decomposition (DMD) parameterization of the Koopman operator, our method learns the temporal evolution of deformable…

The ability to learn multi-modal action distributions is indispensable for robotic manipulation policies to perform precise and robust control. Flow-based generative models have recently emerged as a promising solution to learning…

This paper presents a novel episodic method to learn a robot's nonlinear dynamics model and an increasingly optimal control sequence for a set of tasks. The method is based on the {\em Koopman operator} approach to nonlinear dynamical…

Diffusion Language Models (DLMs) have recently achieved strong results in text generation. However, their multi-step sampling leads to slow inference, limiting practical use. To address this, we extend Inverse Distillation, a technique…

Sampling from pretrained diffusion and flow-matching models typically requires many forward passes to generate diverse and high-fidelity images. Existing distillation methods often rely on multiple auxiliary networks, carefully designed…

Recent research has highlighted the powerful capabilities of imitation learning in robotics. Leveraging generative models, particularly diffusion models, these approaches offer notable advantages such as strong multi-task generalization,…

Multimodal Deep Learning has garnered much interest, and transformers have triggered novel approaches, thanks to the cross-attention mechanism. Here we propose an approach to deal with two key existing challenges: the high computational…

Diffusion distillation models effectively accelerate reverse sampling by compressing the process into fewer steps. However, these models still exhibit a performance gap compared to their pre-trained diffusion model counterparts, exacerbated…

Diffusion policies have recently emerged as a powerful paradigm for visuomotor control in robotic manipulation due to their ability to model the distribution of action sequences and capture multimodality. However, iterative denoising leads…

We present a new method for making diffusion models faster to sample. The method distills many-step diffusion models into few-step models by matching conditional expectations of the clean data given noisy data along the sampling trajectory.…

Diffusion models have seen rapid adoption in robotic imitation learning, enabling autonomous execution of complex dexterous tasks. However, action synthesis is often slow, requiring many steps of iterative denoising, limiting the extent to…

Autonomous driving technologies have received notable attention in the past decades. In autonomous driving systems, identifying a precise dynamical model for motion control is nontrivial due to the strong nonlinearity and uncertainty in…

Generative flow and diffusion models provide the continuous, multimodal action distributions needed for high-precision robotic policies. However, their reliance on iterative sampling introduces severe inference latency, degrading control…

Significant advancements in image generation have been made with diffusion models. Nevertheless, when contrasted with previous generative models, diffusion models face substantial computational overhead, leading to failure in real-time…

Existing audio-driven video digital human generation models rely on multi-step denoising, resulting in substantial computational overhead that severely limits their deployment in real-world settings. While one-step distillation approaches…

We propose a method to distill a complex multistep diffusion model into a single-step conditional GAN student model, dramatically accelerating inference, while preserving image quality. Our approach interprets diffusion distillation as a…

Diffusion Models have emerged as a leading class of generative models, yet their iterative sampling process remains computationally expensive. Timestep distillation is a promising technique to accelerate generation, but it often requires…

Recent approaches have shown promises distilling diffusion models into efficient one-step generators. Among them, Distribution Matching Distillation (DMD) produces one-step generators that match their teacher in distribution, without…

The computational benefits of iterative non-autoregressive transformers decrease as the number of decoding steps increases. As a remedy, we introduce Distill Multiple Steps (DiMS), a simple yet effective distillation technique to decrease…

Image tokenization plays a central role in modern generative modeling by mapping visual inputs into compact representations that serve as an intermediate signal between pixels and generative models. Diffusion-based decoders have recently…