10 papers
Robust Convex Model Predictive Control with collision avoidance guarantees for robot manipulators
Bernhard Wullt, Johannes Köhler, Per Mattsson +2
Industrial manipulators typically operate in cluttered environments, where safe motion planning is critical. However, model uncertainties further complicate this task, which leads…
Simultaneous State Estimation and Online Model Learning in a Soft Robotic System
Jan-Hendrik Ewering, Max Bartholdt, Simon F. G. Ehlers +3
Operating complex real-world systems, such as soft robots, can benefit from precise predictive control schemes that require accurate state and model knowledge. This knowledge is ty…
Self-Rewarding Sequential Monte Carlo for Masked Diffusion Language Models
Ziwei Luo, Ziqi Jin, Lei Wang +2
This work presents self-rewarding sequential Monte Carlo (SMC), an inference-time scaling algorithm enabling effective sampling of masked diffusion language models (MDLMs). Our alg…
Taming Diffusion Models for Image Restoration: A Review
Ziwei Luo, Fredrik K. Gustafsson, Zheng Zhao +2
Diffusion models have achieved remarkable progress in generative modelling, particularly in enhancing image quality to conform to human preferences. Recently, these models have als…
Efficient Image Restoration with State-Dependent Forward Diffusion
Ziwei Luo, Fredrik K. Gustafsson, Jens Sjölund +3
This paper proposes to perform image restoration through a state-dependent mean-reverting forward diffusion (FoD) process. In contrast to traditional diffusion-based approaches tha…
Conditioning diffusion models by explicit forward-backward bridging
Adrien Corenflos, Zheng Zhao, Simo Särkkä +2
Given an unconditional diffusion model targeting a joint model , using it to perform conditional simulation is still largely an open question and is typica…