Controllable Motion Generation via Diffusion Modal Coupling Article Swipe

PDF

Luobin Wang , Hongzhan Yu , Chen‐Chieh Yu , Sicun Gao , Henrik Reintoft Christensen ·

YOU? · · 2025 · Open Access · · DOI: https://doi.org/10.48550/arxiv.2503.02353

Diffusion models have recently gained significant attention in robotics due to their ability to generate multi-modal distributions of system states and behaviors. However, a key challenge remains: ensuring precise control over the generated outcomes without compromising realism. This is crucial for applications such as motion planning or trajectory forecasting, where adherence to physical constraints and task-specific objectives is essential. We propose a novel framework that enhances controllability in diffusion models by leveraging multi-modal prior distributions and enforcing strong modal coupling. This allows us to initiate the denoising process directly from distinct prior modes that correspond to different possible system behaviors, ensuring sampling to align with the training distribution. We evaluate our approach on motion prediction using the Waymo dataset and multi-task control in Maze2D environments. Experimental results show that our framework outperforms both guidance-based techniques and conditioned models with unimodal priors, achieving superior fidelity, diversity, and controllability, even in the absence of explicit conditioning. Overall, our approach provides a more reliable and scalable solution for controllable motion generation in robotics.

Related Topics

Generation Z

Chevrolet Small-Block Engine (First- And Second-Generation)

Chevrolet Camaro (Fourth Generation)

Walt Disney Studios Motion Pictures

Fourth-Generation Fighter

Ford Mustang (Fifth Generation)

Ipad Pro (7Th Generation)

Honda Nsx (First Generation)

Chevrolet Camaro (Fifth Generation)

The Anxious Generation

Ipad Air (6Th Generation)

Ipad (7Th Generation)

Concepts

No concepts available.

Metadata

Type: preprint
Language: en
Landing Page: http://arxiv.org/abs/2503.02353
PDF: https://arxiv.org/pdf/2503.02353
OA Status: green
OpenAlex ID: https://openalex.org/W4415334851

All OpenAlex metadata

Raw OpenAlex JSON

OpenAlex ID: https://openalex.org/W4415334851

Canonical identifier for this work in OpenAlex
DOI: https://doi.org/10.48550/arxiv.2503.02353

Digital Object Identifier
Title: Controllable Motion Generation via Diffusion Modal Coupling

Work title
Type: preprint

OpenAlex work type
Language: en

Primary language
Publication year: 2025

Year of publication
Publication date: 2025-03-04

Full publication date if available
Authors: Luobin Wang, Hongzhan Yu, Chen‐Chieh Yu, Sicun Gao, Henrik Reintoft Christensen

List of authors in order
Landing page: https://arxiv.org/abs/2503.02353

Publisher landing page
PDF URL: https://arxiv.org/pdf/2503.02353

Direct link to full text PDF
Open access: Yes

Whether a free full text is available
OA status: green

Open access status per OpenAlex
OA URL: https://arxiv.org/pdf/2503.02353

Direct OA link when available
Cited by: 0

Total citation count in OpenAlex

Full payload

id	https://openalex.org/W4415334851
doi	https://doi.org/10.48550/arxiv.2503.02353
ids.doi	https://doi.org/10.48550/arxiv.2503.02353
ids.openalex	https://openalex.org/W4415334851
fwci
type	preprint
title	Controllable Motion Generation via Diffusion Modal Coupling
biblio.issue
biblio.volume
biblio.last_page
biblio.first_page
topics[0].id	https://openalex.org/T12290
topics[0].field.id	https://openalex.org/fields/22
topics[0].field.display_name	Engineering
topics[0].score	0.9940999746322632
topics[0].domain.id	https://openalex.org/domains/3
topics[0].domain.display_name	Physical Sciences
topics[0].subfield.id	https://openalex.org/subfields/2207
topics[0].subfield.display_name	Control and Systems Engineering
topics[0].display_name	Human Motion and Animation
topics[1].id	https://openalex.org/T10860
topics[1].field.id	https://openalex.org/fields/17
topics[1].field.display_name	Computer Science
topics[1].score	0.9621000289916992
topics[1].domain.id	https://openalex.org/domains/3
topics[1].domain.display_name	Physical Sciences
topics[1].subfield.id	https://openalex.org/subfields/1711
topics[1].subfield.display_name	Signal Processing
topics[1].display_name	Speech and Audio Processing
topics[2].id	https://openalex.org/T10531
topics[2].field.id	https://openalex.org/fields/17
topics[2].field.display_name	Computer Science
topics[2].score	0.9476000070571899
topics[2].domain.id	https://openalex.org/domains/3
topics[2].domain.display_name	Physical Sciences
topics[2].subfield.id	https://openalex.org/subfields/1707
topics[2].subfield.display_name	Computer Vision and Pattern Recognition
topics[2].display_name	Advanced Vision and Imaging
is_xpac	False
apc_list
apc_paid
language	en
locations[0].id	pmh:oai:arXiv.org:2503.02353
locations[0].is_oa	True
locations[0].source.id	https://openalex.org/S4306400194
locations[0].source.issn
locations[0].source.type	repository
locations[0].source.is_oa	True
locations[0].source.issn_l
locations[0].source.is_core	False
locations[0].source.is_in_doaj	False
locations[0].source.display_name	arXiv (Cornell University)
locations[0].source.host_organization	https://openalex.org/I205783295
locations[0].source.host_organization_name	Cornell University
locations[0].source.host_organization_lineage	https://openalex.org/I205783295
locations[0].license
locations[0].pdf_url	https://arxiv.org/pdf/2503.02353
locations[0].version	submittedVersion
locations[0].raw_type	text
locations[0].license_id
locations[0].is_accepted	False
locations[0].is_published	False
locations[0].raw_source_name
locations[0].landing_page_url	http://arxiv.org/abs/2503.02353
locations[1].id	doi:10.48550/arxiv.2503.02353
locations[1].is_oa	True
locations[1].source.id	https://openalex.org/S4306400194
locations[1].source.issn
locations[1].source.type	repository
locations[1].source.is_oa	True
locations[1].source.issn_l
locations[1].source.is_core	False
locations[1].source.is_in_doaj	False
locations[1].source.display_name	arXiv (Cornell University)
locations[1].source.host_organization	https://openalex.org/I205783295
locations[1].source.host_organization_name	Cornell University
locations[1].source.host_organization_lineage	https://openalex.org/I205783295
locations[1].license
locations[1].pdf_url
locations[1].version
locations[1].raw_type	article
locations[1].license_id
locations[1].is_accepted	False
locations[1].is_published
locations[1].raw_source_name
locations[1].landing_page_url	https://doi.org/10.48550/arxiv.2503.02353
indexed_in	arxiv, datacite
authorships[0].author.id	https://openalex.org/A5042730143
authorships[0].author.orcid	https://orcid.org/0009-0000-6762-1985
authorships[0].author.display_name	Luobin Wang
authorships[0].author_position	first
authorships[0].raw_author_name	Wang, Luobin
authorships[0].is_corresponding	False
authorships[1].author.id	https://openalex.org/A5038794488
authorships[1].author.orcid
authorships[1].author.display_name	Hongzhan Yu
authorships[1].author_position	middle
authorships[1].raw_author_name	Yu, Hongzhan
authorships[1].is_corresponding	False
authorships[2].author.id	https://openalex.org/A5101689838
authorships[2].author.orcid	https://orcid.org/0000-0003-2073-1604
authorships[2].author.display_name	Chen‐Chieh Yu
authorships[2].author_position	middle
authorships[2].raw_author_name	Yu, Chenning
authorships[2].is_corresponding	False
authorships[3].author.id	https://openalex.org/A5081085178
authorships[3].author.orcid	https://orcid.org/0000-0003-2524-4960
authorships[3].author.display_name	Sicun Gao
authorships[3].author_position	middle
authorships[3].raw_author_name	Gao, Sicun
authorships[3].is_corresponding	False
authorships[4].author.id	https://openalex.org/A5000120635
authorships[4].author.orcid	https://orcid.org/0000-0002-4807-4303
authorships[4].author.display_name	Henrik Reintoft Christensen
authorships[4].author_position	last
authorships[4].raw_author_name	Christensen, Henrik
authorships[4].is_corresponding	False
has_content.pdf	False
has_content.grobid_xml	False
is_paratext	False
open_access.is_oa	True
open_access.oa_url	https://arxiv.org/pdf/2503.02353
open_access.oa_status	green
open_access.any_repository_has_fulltext	False
created_date	2025-10-19T00:00:00
display_name	Controllable Motion Generation via Diffusion Modal Coupling
has_fulltext	False
is_retracted	False
updated_date	2025-11-06T06:51:31.235846
primary_topic.id	https://openalex.org/T12290
primary_topic.field.id	https://openalex.org/fields/22
primary_topic.field.display_name	Engineering
primary_topic.score	0.9940999746322632
primary_topic.domain.id	https://openalex.org/domains/3
primary_topic.domain.display_name	Physical Sciences
primary_topic.subfield.id	https://openalex.org/subfields/2207
primary_topic.subfield.display_name	Control and Systems Engineering
primary_topic.display_name	Human Motion and Animation
cited_by_count	0
locations_count	2
best_oa_location.id	pmh:oai:arXiv.org:2503.02353
best_oa_location.is_oa	True
best_oa_location.source.id	https://openalex.org/S4306400194
best_oa_location.source.issn
best_oa_location.source.type	repository
best_oa_location.source.is_oa	True
best_oa_location.source.issn_l
best_oa_location.source.is_core	False
best_oa_location.source.is_in_doaj	False
best_oa_location.source.display_name	arXiv (Cornell University)
best_oa_location.source.host_organization	https://openalex.org/I205783295
best_oa_location.source.host_organization_name	Cornell University
best_oa_location.source.host_organization_lineage	https://openalex.org/I205783295
best_oa_location.license
best_oa_location.pdf_url	https://arxiv.org/pdf/2503.02353
best_oa_location.version	submittedVersion
best_oa_location.raw_type	text
best_oa_location.license_id
best_oa_location.is_accepted	False
best_oa_location.is_published	False
best_oa_location.raw_source_name
best_oa_location.landing_page_url	http://arxiv.org/abs/2503.02353
primary_location.id	pmh:oai:arXiv.org:2503.02353
primary_location.is_oa	True
primary_location.source.id	https://openalex.org/S4306400194
primary_location.source.issn
primary_location.source.type	repository
primary_location.source.is_oa	True
primary_location.source.issn_l
primary_location.source.is_core	False
primary_location.source.is_in_doaj	False
primary_location.source.display_name	arXiv (Cornell University)
primary_location.source.host_organization	https://openalex.org/I205783295
primary_location.source.host_organization_name	Cornell University
primary_location.source.host_organization_lineage	https://openalex.org/I205783295
primary_location.license
primary_location.pdf_url	https://arxiv.org/pdf/2503.02353
primary_location.version	submittedVersion
primary_location.raw_type	text
primary_location.license_id
primary_location.is_accepted	False
primary_location.is_published	False
primary_location.raw_source_name
primary_location.landing_page_url	http://arxiv.org/abs/2503.02353
publication_date	2025-03-04
publication_year	2025
referenced_works_count	0
abstract_inverted_index.a	23, 61, 158
abstract_inverted_index.We	59, 108
abstract_inverted_index.as	43
abstract_inverted_index.by	70
abstract_inverted_index.in	7, 67, 122, 148, 168
abstract_inverted_index.is	38, 57
abstract_inverted_index.of	17, 151
abstract_inverted_index.on	112
abstract_inverted_index.or	46
abstract_inverted_index.to	10, 13, 51, 83, 95, 102
abstract_inverted_index.us	82
abstract_inverted_index.and	20, 54, 75, 119, 135, 145, 161
abstract_inverted_index.due	9
abstract_inverted_index.for	40, 164
abstract_inverted_index.key	24
abstract_inverted_index.our	110, 129, 155
abstract_inverted_index.the	31, 85, 105, 116, 149
abstract_inverted_index.This	37, 80
abstract_inverted_index.both	132
abstract_inverted_index.even	147
abstract_inverted_index.from	89
abstract_inverted_index.have	2
abstract_inverted_index.more	159
abstract_inverted_index.over	30
abstract_inverted_index.show	127
abstract_inverted_index.such	42
abstract_inverted_index.that	64, 93, 128
abstract_inverted_index.with	104, 138
abstract_inverted_index.Waymo	117
abstract_inverted_index.align	103
abstract_inverted_index.modal	78
abstract_inverted_index.modes	92
abstract_inverted_index.novel	62
abstract_inverted_index.prior	73, 91
abstract_inverted_index.their	11
abstract_inverted_index.using	115
abstract_inverted_index.where	49
abstract_inverted_index.Maze2D	123
abstract_inverted_index.allows	81
abstract_inverted_index.gained	4
abstract_inverted_index.models	1, 69, 137
abstract_inverted_index.motion	44, 113, 166
abstract_inverted_index.states	19
abstract_inverted_index.strong	77
abstract_inverted_index.system	18, 98
abstract_inverted_index.ability	12
abstract_inverted_index.absence	150
abstract_inverted_index.control	29, 121
abstract_inverted_index.crucial	39
abstract_inverted_index.dataset	118
abstract_inverted_index.precise	28
abstract_inverted_index.priors,	140
abstract_inverted_index.process	87
abstract_inverted_index.propose	60
abstract_inverted_index.results	126
abstract_inverted_index.without	34
abstract_inverted_index.However,	22
abstract_inverted_index.Overall,	154
abstract_inverted_index.approach	111, 156
abstract_inverted_index.directly	88
abstract_inverted_index.distinct	90
abstract_inverted_index.enhances	65
abstract_inverted_index.ensuring	27, 100
abstract_inverted_index.evaluate	109
abstract_inverted_index.explicit	152
abstract_inverted_index.generate	14
abstract_inverted_index.initiate	84
abstract_inverted_index.outcomes	33
abstract_inverted_index.physical	52
abstract_inverted_index.planning	45
abstract_inverted_index.possible	97
abstract_inverted_index.provides	157
abstract_inverted_index.realism.	36
abstract_inverted_index.recently	3
abstract_inverted_index.reliable	160
abstract_inverted_index.remains:	26
abstract_inverted_index.robotics	8
abstract_inverted_index.sampling	101
abstract_inverted_index.scalable	162
abstract_inverted_index.solution	163
abstract_inverted_index.superior	142
abstract_inverted_index.training	106
abstract_inverted_index.unimodal	139
abstract_inverted_index.Diffusion	0
abstract_inverted_index.achieving	141
abstract_inverted_index.adherence	50
abstract_inverted_index.attention	6
abstract_inverted_index.challenge	25
abstract_inverted_index.coupling.	79
abstract_inverted_index.denoising	86
abstract_inverted_index.different	96
abstract_inverted_index.diffusion	68
abstract_inverted_index.enforcing	76
abstract_inverted_index.fidelity,	143
abstract_inverted_index.framework	63, 130
abstract_inverted_index.generated	32
abstract_inverted_index.robotics.	169
abstract_inverted_index.behaviors,	99
abstract_inverted_index.behaviors.	21
abstract_inverted_index.correspond	94
abstract_inverted_index.diversity,	144
abstract_inverted_index.essential.	58
abstract_inverted_index.generation	167
abstract_inverted_index.leveraging	71
abstract_inverted_index.multi-task	120
abstract_inverted_index.objectives	56
abstract_inverted_index.prediction	114
abstract_inverted_index.techniques	134
abstract_inverted_index.trajectory	47
abstract_inverted_index.conditioned	136
abstract_inverted_index.constraints	53
abstract_inverted_index.multi-modal	15, 72
abstract_inverted_index.outperforms	131
abstract_inverted_index.significant	5
abstract_inverted_index.Experimental	125
abstract_inverted_index.applications	41
abstract_inverted_index.compromising	35
abstract_inverted_index.controllable	165
abstract_inverted_index.forecasting,	48
abstract_inverted_index.conditioning.	153
abstract_inverted_index.distribution.	107
abstract_inverted_index.distributions	16, 74
abstract_inverted_index.environments.	124
abstract_inverted_index.task-specific	55
abstract_inverted_index.guidance-based	133
abstract_inverted_index.controllability	66
abstract_inverted_index.controllability,	146
cited_by_percentile_year
countries_distinct_count	0
institutions_distinct_count	5
citation_normalized_percentile