5 papers
DreamControl-v2: Simpler and Scalable Autonomous Humanoid Skills via Trainable Guided Diffusion Priors
Sudarshan Harithas, Sangkyung Kwak, Pushkal Katara +6
Developing robust autonomous loco-manipulation skills for humanoids remains an open problem in robotics. While RL has been applied successfully to legged locomotion, applying it to…
From Scope to Script: An Automated Report Generation Model for Gastrointestinal Endoscopy
Evandros Kaklamanos, Kristjana Kristinsdottir, Jonathan Huang +4
Endoscopic procedures such as esophagogastroduodenoscopy (EGD) and colonoscopy play a critical role in diagnosing and managing gastrointestinal (GI) disorders. However, the documen…
DreamControl: Human-Inspired Whole-Body Humanoid Control for Scene Interaction via Guided Diffusion
Dvij Kalaria, Sudarshan S Harithas, Pushkal Katara +7
We introduce DreamControl, a novel methodology for learning autonomous whole-body humanoid skills. DreamControl leverages the strengths of diffusion models and Reinforcement Learni…
MALT Diffusion: Memory-Augmented Latent Transformers for Any-Length Video Generation
Sihyun Yu, Meera Hahn, Dan Kondratyuk +6
Diffusion models are successful for synthesizing high-quality videos but are limited to generating short clips (e.g., 2-10 seconds). Synthesizing sustained footage (e.g. over minut…
Representation Alignment for Generation: Training Diffusion Transformers Is Easier Than You Think
Sihyun Yu, Sangkyung Kwak, Huiwon Jang +4
Recent studies have shown that the denoising process in (generative) diffusion models can induce meaningful (discriminative) representations inside the model, though the quality of…