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

Prior masked modeling motion generation methods predominantly study text-to-motion. We present DiMo, a discrete diffusion-style framework, which extends masked modeling to bidirectional text--motion understanding and generation. Unlike…

This paper presents a Koopman lifting linearization method that is applicable to nonlinear dynamical systems having both stable and unstable regions. It is known that DMD and other standard data-driven methods face a fundamental difficulty…

Diffusion Policies have significantly advanced robotic manipulation tasks via imitation learning, but their application on resource-constrained mobile platforms remains challenging due to computational inefficiency and extensive memory…

Recently, diffusion distillation methods have compressed thousand-step teacher diffusion models into one-step student generators while preserving sample quality. Most existing approaches train the student model using a diffusive divergence…

Diffusion models have emerged as powerful generative frameworks by progressively adding noise to data through a forward process and then reversing this process to generate realistic samples. While these models have achieved strong…

Continuous Normalizing Flows (CNFs) enable elegant generative modeling but remain bottlenecked by slow sampling: producing a single sample requires solving a nonlinear ODE with hundreds of function evaluations. Recent approaches such as…

A data-driven analysis method known as dynamic mode decomposition (DMD) approximates the linear Koopman operator on projected space. In the spirit of Johnson-Lindenstrauss Lemma, we will use random projection to estimate the DMD modes in…

Real-time robotic control demands fast action generation. However, existing generative policies based on diffusion and flow matching require multi-step sampling, fundamentally limiting deployment in time-critical scenarios. We propose…

Discrete diffusion models have recently emerged as a promising alternative to the autoregressive approach for generating discrete sequences. Sample generation via gradual denoising or demasking processes allows them to capture hierarchical…

Cameras and LiDAR are essential sensors for autonomous vehicles. Camera-LiDAR data fusion compensate for deficiencies of stand-alone sensors but relies on precise extrinsic calibration. Many learning-based calibration methods predict…

Visual-motor policy learning has advanced with architectures like diffusion-based policies, known for modeling complex robotic trajectories. However, their prolonged inference times hinder high-frequency control tasks requiring real-time…

Distribution matching distillation (DMD) facilitates few-step image generation by aligning a distilled student with a reference multi-step teacher. In practice, however, optimizing DMD can reduce sample diversity in few-step synthesis, and…

Deep ensembles deliver state-of-the-art, reliable uncertainty quantification, but their heavy computational and memory requirements hinder their practical deployments to real applications such as on-device AI. Knowledge distillation…

This paper addresses the challenges of high computational cost and slow inference in deploying large language models. It proposes a distillation strategy guided by multiple teacher models. The method constructs several teacher models and…

This work presents an optimization method for generating kinodynamically feasible and collision-free multi-robot trajectories that exploits an incremental denoising scheme in diffusion models. Our key insight is that high-quality…

Diffusion policies are a powerful paradigm for robotic control, but fine-tuning them with human preferences is fundamentally challenged by the multi-step structure of the denoising process. To overcome this, we introduce a Unified Markov…

Diffusion Policy (DP) enables robots to learn complex behaviors by imitating expert demonstrations through action diffusion. However, in practical applications, hardware limitations often degrade data quality, while real-time constraints…

This paper presents a distributed Koopman operator learning framework for modeling unknown nonlinear dynamics using sequential observations from multiple agents. Each agent estimates a local Koopman approximation based on lifted data and…

Denoising diffusion probabilistic models (DDPMs) have shown promising performance for speech synthesis. However, a large number of iterative steps are required to achieve high sample quality, which restricts the inference speed. Maintaining…

Diffusion Models~(DMs) have emerged as the dominant approach in Generative Artificial Intelligence (GenAI), owing to their remarkable performance in tasks such as text-to-image synthesis. However, practical DMs, such as stable diffusion,…