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Recently, the diffusion model has emerged as a powerful generative technique for robotic policy learning, capable of modeling multi-mode action distributions.
U-net: Convolutional networks for biomedical image segmentation
Olaf Ronneberger, Philipp Fischer, and Thomas Brox · 2015
Earlier work this paper cites.
Deep residual learning for image recognition
Kaiming He, Xiangyu Zhang, Shaoqing Ren, and Jian Sun · 2016
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Carla: An open urban driving simulator
Alexey Dosovitskiy, German Ros, Felipe Codevilla, Antonio Lopez, and Vladlen Koltun · 2017
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Efficientnet: Rethinking model scaling for convolutional neural networks
Mingxing Tan and Quoc Le · 2019
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nuscenes: A multimodal dataset for autonomous driving
Holger Caesar, Varun Bankiti, Alex H Lang, Sourabh Vora, Venice Erin Liong, Qiang Xu, Anush Krishnan, Yu Pan, Giancarlo Baldan, and Oscar Beijbom · 2020
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Denoising diffusion probabilistic models
Jonathan Ho, Ajay Jain, and Pieter Abbeel · 2020
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Bevdet: High-performance multi-camera 3d object detection in bird-eye-view
Junjie Huang, Guan Huang, Zheng Zhu, Yun Ye, and Dalong Du · 2021
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Fairmot: On the fairness of detection and re-identification in multiple object tracking
Yifu Zhang, Chunyu Wang, Xinggang Wang, Wenjun Zeng, and Wenyu Liu · 2021
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Deformable detr: Deformable transformers for end-to-end object detection
Xizhou Zhu, Weijie Su, Lewei Lu, Bin Li, Xiaogang Wang, and Jifeng Dai · 2021
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Transfuser: Imitation with transformer-based sensor fusion for autonomous driving
Kashyap Chitta, Aditya Prakash, Bernhard Jaeger, Zehao Yu, Katrin Renz, and Andreas Geiger · 2022
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St-p3: End-to-end vision-based autonomous driving via spatial-temporal feature learning
Shengchao Hu, Li Chen, Penghao Wu, Hongyang Li, Junchi Yan, and Dacheng Tao · 2022
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Planning with diffusion for flexible behavior synthesis
Michael Janner, Yilun Du, Joshua B. Tenenbaum, and Sergey Levine · 2022
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Bevformer: Learning bird’s-eye-view representation from multi-camera images via spatiotemporal transformers
Zhiqi Li, Wenhai Wang, Hongyang Li, Enze Xie, Chonghao Sima, Tong Lu, Yu Qiao, and Jifeng Dai · 2022
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Sparse4d: Multi-view 3d object detection with sparse spatial-temporal fusion
Xuewu Lin, Tianwei Lin, Zixiang Pei, Lichao Huang, and Zhizhong Su · 2022
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Flow straight and fast: Learning to generate and transfer data with rectified flow
Xingchao Liu, Chengyue Gong, and Qiang Liu · 2022
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High-resolution image synthesis with latent diffusion models
Robin Rombach, Andreas Blattmann, Dominik Lorenz, Patrick Esser, and Björn Ommer · 2022
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Detr3d: 3d object detection from multi-view images via 3d-to-2d queries
Yue Wang, Vitor Campagnolo Guizilini, Tianyuan Zhang, Yilun Wang, Hang Zhao, and Justin Solomon · 2022
Cited alongside, same era.
Motr: End-to-end multiple-object tracking with transformer
Fangao Zeng, Bin Dong, Yuang Zhang, Tiancai Wang, Xiangyu Zhang, and Yichen Wei · 2022
Cited alongside, same era.
Bytetrack: Multi-object tracking by associating every detection box
Yifu Zhang, Peize Sun, Yi Jiang, Dongdong Yu, Fucheng Weng, Zehuan Yuan, Ping Luo, Wenyu Liu, and Xinggang Wang · 2022
Cited alongside, same era.
Is conditional generative modeling all you need for decision making?
Anurag Ajay, Yilun Du, Abhi Gupta, Joshua B. Tenenbaum, Tommi S. Jaakkola, and Pulkit Agrawal · 2023
Cited alongside, same era.
Diffusion policy: Visuomotor policy learning via action diffusion
Cheng Chi, Zhenjia Xu, Siyuan Feng, Eric Cousineau, Yilun Du, Benjamin Burchfiel, Russ Tedrake, and Shuran Song · 2023
Cited alongside, same era.
Towards learning-based planning: The nuplan benchmark for real-world autonomous driving
Napat Karnchanachari, Dimitris Geromichalos, Kok Seang Tan, Nanxiang Li, Christopher Eriksen, Shakiba Yaghoubi, Noushin Mehdipour, Gianmarco Bernasconi, Whye Kit Fong, Yiluan Guo, et al · 2024
Closest in time.
Maptrv2: An end-to-end framework for online vectorized hd map construction
Bencheng Liao, Shaoyu Chen, Yunchi Zhang, Bo Jiang, Qian Zhang, Wenyu Liu, Chang Huang, and Xinggang Wang · 2024
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Nomad: Goal masked diffusion policies for navigation and exploration
Ajay Sridhar, Dhruv Shah, Catherine Glossop, and Sergey Levine · 2024
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Dippest: Diffusion-based path planner for synthesizing trajectories applied on quadruped robots
Maria Stamatopoulou, Jianwei Liu, and Dimitrios Kanoulas · 2024
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Sparsedrive: End-to-end autonomous driving via sparse scene representation
Wenchao Sun, Xuewu Lin, Yining Shi, Chuang Zhang, Haoran Wu, and Sifa Zheng · 2024
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Openscene: The largest up-to-date 3d occupancy prediction benchmark in autonomous driving
OpenScene Contributors · 2023
Cited alongside, same era.
Planning-oriented autonomous driving
Yihan Hu, Jiazhi Yang, Li Chen, Keyu Li, Chonghao Sima, Xizhou Zhu, Siqi Chai, Senyao Du, Tianwei Lin, Wenhai Wang, et al · 2023
Cited alongside, same era.
MapTR: Structured modeling and learning for online vectorized HD map construction
Bencheng Liao, Shaoyu Chen, Xinggang Wang, Tianheng Cheng, Qian Zhang, Wenyu Liu, and Chang Huang · 2023
Cited alongside, same era.
Flow matching for generative modeling
Yaron Lipman, Ricky T. Q. Chen, Heli Ben-Hamu, Maximilian Nickel, and Matthew Le · 2023
Cited alongside, same era.
Vectormapnet: End-to-end vectorized hd map learning
Yicheng Liu, Tianyuan Yuan, Yue Wang, Yilun Wang, and Hang Zhao · 2023
Cited alongside, same era.
Scene as occupancy
Wenwen Tong, Chonghao Sima, Tai Wang, Li Chen, Silei Wu, Hanming Deng, Yi Gu, Lewei Lu, Ping Luo, Dahua Lin, et al · 2023
Cited alongside, same era.
Truncated diffusion probabilistic models and diffusion-based adversarial auto-encoders
Huangjie Zheng, Pengcheng He, Weizhu Chen, and Mingyuan Zhou · 2023
Cited alongside, same era.
Closest in time.
M2diffuser: Diffusion-based trajectory optimization for mobile manipulation in 3d scenes
Sixu Yan, Zeyu Zhang, Muzhi Han, Zaijin Wang, Qi Xie, Zhitian Li, Zhehan Li, Hangxin Liu, Xinggang Wang, and Song-Chun Zhu · 2024
Closest in time.
Diffusion-es: Gradient-free planning with diffusion for autonomous driving and zero-shot instruction following
Brian Yang, Huangyuan Su, Nikolaos Gkanatsios, Tsung-Wei Ke, Ayush Jain, Jeff Schneider, and Katerina Fragkiadaki · 2024
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Fasterdit: Towards faster diffusion transformers training without architecture modification
Jingfeng Yao, Cheng Wang, Wenyu Liu, and Xinggang Wang · 2024
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Ldp: A local diffusion planner for efficient robot navigation and collision avoidance
Wenhao Yu, Jie Peng, Huanyu Yang, Junrui Zhang, Yifan Duan, Jianmin Ji, and Yanyong Zhang · 2024
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Drama: An efficient end-to-end motion planner for autonomous driving with mamba
Chengran Yuan, Zhanqi Zhang, Jiawei Sun, Shuo Sun, Zefan Huang, Christina Dao Wen Lee, Dongen Li, Yuhang Han, Anthony Wong, Keng Peng Tee, et al · 2024
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3d diffusion policy
Yanjie Ze, Gu Zhang, Kangning Zhang, Chenyuan Hu, Muhan Wang, and Huazhe Xu · 2024
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Genad: Generative end-to-end autonomous driving
Wenzhao Zheng, Ruiqi Song, Xianda Guo, Chenming Zhang, and Long Chen · 2024
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Dig: Scalable and efficient diffusion models with gated linear attention
Lianghui Zhu, Zilong Huang, Bencheng Liao, Jun Hao Liew, Hanshu Yan, Jiashi Feng, and Xinggang Wang · 2024
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Polardetr: Polar parametrization for vision-based surround-view 3d detection
Shaoyu Chen, Xinggang Wang, Tianheng Cheng, Qian Zhang, Chang Huang, and Wenyu Liu · 2025
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Reconstruction vs. generation: Taming optimization dilemma in latent diffusion models
Jingfeng Yao and Xinggang Wang · 2025
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