相关论文: HumanFlow -- Diffusion-Driven MAV Navigation Among…

Video prediction is a fundamental task for various downstream applications, including robotics and world modeling. Although general video prediction models have achieved remarkable performance in standard scenarios, occlusion is still an…

The ability to predict the future trajectories of traffic participants is crucial for the safe and efficient operation of autonomous vehicles. In this paper, a diffusion-based generative model for multi-agent trajectory prediction is…

After many researchers observed fruitfulness from the recent diffusion probabilistic model, its effectiveness in image generation is actively studied these days. In this paper, our objective is to evaluate the potential of diffusion…

This paper uses the capabilities of latent diffusion models (LDMs) to generate realistic RGB human-object interaction scenes to guide humanoid loco-manipulation planning. To do so, we extract from the generated images both the contact…

Learning robust visuomotor policies that generalize across diverse objects and interaction dynamics remains a central challenge in robotic manipulation. Most existing approaches rely on direct observation-to-action mappings or compress…

The conditional diffusion model has been demonstrated as an efficient tool for learning robot policies, owing to its advancement to accurately model the conditional distribution of policies. The intricate nature of real-world scenarios,…

Complex scenes present significant challenges for predicting human behaviour due to the abundance of interaction information, such as human-human and humanenvironment interactions. These factors complicate the analysis and understanding of…

Visual traversability estimation is critical for autonomous navigation, but existing VLM-based methods rely on hand-crafted prompts, generalize poorly across embodiments, and output only traversability maps, leaving trajectory generation to…

LiDAR scene flow is the task of estimating per-point 3D motion between consecutive point clouds. Recent methods achieve centimeter-level accuracy on popular autonomous vehicle (AV) datasets, but are typically only trained and evaluated on a…

Accurate pedestrian trajectory prediction is crucial for ensuring safety and efficiency in autonomous driving and human-robot interaction scenarios. Earlier studies primarily utilized sufficient observational data to predict future…

This paper introduces ManiFlow, a visuomotor imitation learning policy for general robot manipulation that generates precise, high-dimensional actions conditioned on diverse visual, language and proprioceptive inputs. We leverage flow…

Accurate perception of the dynamic environment is a fundamental task for autonomous driving and robot systems. This paper introduces Let Occ Flow, the first self-supervised work for joint 3D occupancy and occupancy flow prediction using…

Estimating 2D camera motion is a fundamental computer vision task that models the projection of 3D camera movements onto the 2D image plane. Current methods rely on either homography-based approaches, limited to planar scenes, or meshflow…

Human motion and behaviour in crowded spaces is influenced by several factors, such as the dynamics of other moving agents in the scene, as well as the static elements that might be perceived as points of attraction or obstacles. In this…

Human trajectory forecasting is a critical challenge in fields such as robotics and autonomous driving. Due to the inherent uncertainty of human actions and intentions in real-world scenarios, various unexpected occurrences may arise. To…

Over the years, the separate fields of motion planning, mapping, and human trajectory prediction have advanced considerably. However, the literature is still sparse in providing practical frameworks that enable mobile manipulators to…

Human trajectory data is crucial in urban planning, traffic engineering, and public health. However, directly using real-world trajectory data often faces challenges such as privacy concerns, data acquisition costs, and data quality. A…

We present FlightDiffusion, a diffusion-model-based framework for training autonomous drones from first-person view (FPV) video. Our model generates realistic video sequences from a single frame, enriched with corresponding action spaces to…

In the rapidly evolving landscape of autonomous mobile robots, the emphasis on seamless human-robot interactions has shifted towards autonomous decision-making. This paper delves into the intricate challenges associated with robotic…

Recent advances in imitation learning for 3D robotic manipulation have shown promising results with diffusion-based policies. However, achieving human-level dexterity requires seamless integration of geometric precision and semantic…