ML Systems Wiki Knowledge base for ML systems, autonomy, and embodied AI
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paper 114 autonomous-driving 92 foundation-model 55 transformer 53 vla 49 planning 42 robotics 41 computer-vision 36 perception 32 ilya-30 29 multimodal 29 nlp 26 end-to-end 24 language-modeling 24 llm 17 reasoning 17 imitation-learning 16 3d-occupancy 15 vlm 15 bev 14 diffusion 13 e2e 12 reinforcement-learning 12 world-model 12 chain-of-thought 10 benchmark 9 scaling 9 cross-embodiment 7 driving 6 gaussian-splatting 6 generative-models 6 image-classification 6 information-theory 6 questions 6 self-supervised 6 sources 6 alignment 5 attention 5 cnn 5 foundation 5 knowledge-distillation 5 language-model 5 prediction 5 simulation 5 evaluation 4 image-generation 4 instruction-tuning 4 mixture-of-experts 4 rnn 4 sequence-to-sequence 4 sparse-representation 4 video-prediction 4 explainability 3 flow-matching 3 lstm 3 map 3 occupancy 3 open-source 3 semantic-segmentation 3 sequence-modeling 3 trajectory-prediction 3 vectorized-representation 3 3d-detection 2 3d-perception 2 3d-reconstruction 2 action-representation 2 autonomy 2 autoregressive 2 bimanual 2 closed-loop 2 complexity-theory 2 dataset 2 deployment 2 distributed-training 2 efficient-inference 2 embodied 2 fine-tuning 2 foundation-models 2 foundational 2 gaussian-representation 2 generation 2 generative 2 human-interaction 2 humanoid 2 manipulation 2 memory-augmented-networks 2 ml 2 multi-camera 2 multilingual 2 object-detection 2 parameter-efficient-fine-tuning 2 prompting 2 real-time 2 regularization 2 relational-reasoning 2 residual-networks 2 rlhf 2 scaling-laws 2 segmentation 2 self-improvement 2 self-supervised-learning 2 state-space 2 systems 2 thermodynamics 2 vision-language-model 2 vision-transformer 2 visual-question-answering 2 zero-shot 2 3d 1 3d-scene 1 3d-semantic-occupancy 1 agenda 1 agentic 1 agi 1 algorithmic-information-theory 1 algorithmic-randomness 1 asynchronous 1 attention-mechanism 1 batch 1 bayesian-inference 1 behavior-forecasting 1 camera-fusion 1 classifier-guidance 1 combinatorial-optimization 1 comparison 1 compression 1 computability 1 concept 1 contrastive-learning 1 control 1 convolutional-neural-networks 1 corpus 1 course 1 data-collection 1 decoupled 1 deep-learning 1 denoising 1 depth-estimation 1 dexterous-manipulation 1 differentiable-programming 1 diffusion-policy 1 diffusion-transformer 1 dilated-convolutions 1 dropout 1 efficient 1 embodied-ai 1 embodiment 1 emergent-abilities 1 end-to-end-learning 1 evaluation-metric 1 few-shot 1 few-shot-learning 1 foundations 1 frontend 1 gaussian 1 gaussian-rendering 1 generalist-agent 1 generalization 1 gpu-training 1 graph-neural-networks 1 grounding 1 grpo 1 hierarchical 1 high-frequency-control 1 hosting 1 ilya 1 image-captioning 1 image-text-retrieval 1 in-context-learning 1 inductive-bias 1 intelligence-measurement 1 interactive-annotation 1 interactive-segmentation 1 knowledge-preservation 1 kolmogorov-complexity 1 lanegcn 1 locomotion 1 machine-translation 1 mamba 1 mdl 1 message-passing 1 minimum-description-length 1 model-parallelism 1 model-predictive-control 1 model-selection 1 modular 1 molecular-property-prediction 1 multi-embodiment 1 multi-task 1 natural-language 1 neural-radiance-fields 1 neuro-symbolic 1 obsidian 1 open-world 1 optimization 1 orchestration 1 parallel-architecture 1 parameter-efficient 1 permutation-invariance 1 personalization 1 physical-ai 1 pipeline-parallelism 1 pointer-mechanism 1 privileged-supervision 1 probabilistic-planning 1 proprioception 1 quantization 1 queue 1 radar 1 recurrent-neural-networks 1 representation-learning 1 scene-understanding 1 search 1 seminal 1 sensor-fusion 1 set-modeling 1 siamese-networks 1 simulator 1 source 1 sparse-models 1 spatial-reasoning 1 speech-recognition 1 survey 1 synthesis 1 taxonomy 1 temporal 1 temporal-modeling 1 thesis 1 tokenization 1 tool-use 1 training 1 uniad 1 unified-stack 1 vanishing-gradients 1 variational-autoencoders 1 video-generation 1 video-understanding 1 visual-traces 1 vit 1

Pages tagged diffusion

3D-VLA: A 3D Vision-Language-Action Generative World Model
paper

📄 **[Read on arXiv](https://arxiv.org/abs/2403.09631)** 3D-VLA addresses a fundamental limitation of existing vision-language-action models: their reliance on 2D visual representations, which lack the spatial depth unde…
BEVDiffuser: Plug-and-Play Diffusion Model for BEV Denoising with Ground-Truth Guidance
source-summary

**[Read on arXiv](https://arxiv.org/abs/2502.19694)** BEVDiffuser addresses a fundamental but under-explored problem in BEV-based perception: the inherent noise in BEV feature maps caused by sensor limitations and the l…
Denoising Diffusion Probabilistic Models
source-summary

📄 **[Read on arXiv](https://arxiv.org/abs/2006.11239)** Ho, Jain, and Abbeel, NeurIPS, 2020. - [Paper](https://arxiv.org/abs/2006.11239) Denoising Diffusion Probabilistic Models (DDPM) demonstrates that high-quality ima…
DexVLA: Vision-Language Model with Plug-In Diffusion Expert for General Robot Control
source-summary

[Read on arXiv](https://arxiv.org/abs/2502.05855) DexVLA introduces a paradigm shift in VLA architecture by scaling the action generation component to 1 billion parameters using a diffusion-based expert, rather than foc…
Diffusion Models Beat GANs on Image Synthesis
paper

📄 **[Read on arXiv](https://arxiv.org/abs/2105.05233)** This paper by Dhariwal and Nichol (OpenAI, 2021) demonstrates that diffusion models can surpass GANs on image synthesis for the first time, achieving state-of-the-…
DiffusionDrive: Truncated Diffusion Model for End-to-End Autonomous Driving
source-summary

[Read on arXiv](https://arxiv.org/abs/2411.15139) DiffusionDrive (HUST/Horizon Robotics, CVPR 2025 Highlight) proposes a truncated diffusion model for end-to-end autonomous driving that achieves real-time inference whil…
Genad Generalized Predictive Model For Autonomous Driving
paper

📄 **[Read on arXiv](https://arxiv.org/abs/2403.09630)** > **Note:** This is the CVPR 2024 Highlight paper on large-scale video prediction for driving, NOT the ECCV 2024 paper wiki/sources/papers/genad-generative-end-to-…
Hierarchical Text-Conditional Image Generation with CLIP Latents (DALL-E 2)
paper

📄 **[Read on arXiv](https://arxiv.org/abs/2204.06125)** DALL-E 2 (internally called unCLIP) introduces a hierarchical approach to text-conditional image generation that leverages CLIP's joint text-image embedding space…
High-Resolution Image Synthesis with Latent Diffusion Models
paper

📄 **[Read on arXiv](https://arxiv.org/abs/2112.10752)** Latent Diffusion Models (LDMs), the architecture behind Stable Diffusion, address the prohibitive computational cost of applying diffusion models directly in pixel…
OccGen: Generative Multi-modal 3D Occupancy Prediction for Autonomous Driving
paper

📄 **[Read on arXiv](https://arxiv.org/abs/2404.15014)** OccGen reframes 3D semantic occupancy prediction as a conditional generative problem rather than a purely discriminative one. Prior occupancy methods (SurroundOcc,…
RDT-1B: A Diffusion Foundation Model for Bimanual Manipulation
source-summary

[Read on arXiv](https://arxiv.org/abs/2410.07864) RDT-1B (Tsinghua University, ICLR 2025) presents the largest diffusion transformer for bimanual robot manipulation, scaling to 1.2B parameters. Bimanual manipulation --…
Unisim Learning Interactive Real World Simulators
paper

📄 **[Read on arXiv](https://arxiv.org/abs/2310.06114)** UniSim addresses a fundamental bottleneck in embodied AI: the lack of high-fidelity, interactive simulators that generalize across domains. Rather than building se…
Vista A Generalizable Driving World Model With High Fidelity And Versatile Controllability
paper

📄 **[Read on arXiv](https://arxiv.org/abs/2405.17398)** Vista (NeurIPS 2024) is a generalizable driving world model that achieves high-fidelity video prediction at 10 Hz and 576x1024 resolution with versatile multi-moda…