Diffusion models, praised for their success in generative tasks, are increasingly being applied to robotics, demonstrating exceptional performance in behavior cloning. However, their slow generation process stemming from iterative denoising steps poses a challenge for real-time applications in resource-constrained robotics setups and dynamically changing environments. In this paper, we introduce the One-Step Diffusion Policy (OneDP), a novel approach that distills knowledge from pre-trained diffusion policies into a single-step action generator, significantly accelerating response times for robotic control tasks. We ensure the distilled generator closely aligns with the original policy distribution by minimizing the Kullback-Leibler (KL) divergence along the diffusion chain, requiring only $2\%$-$10\%$ additional pre-training cost for convergence. We evaluated OneDP on 6 challenging simulation tasks as well as 4 self-designed real-world tasks using the Franka robot. The results demonstrate that OneDP not only achieves state-of-the-art success rates but also delivers an order-of-magnitude improvement in inference speed, boosting action prediction frequency from 1.5 Hz to 62 Hz, establishing its potential for dynamic and computationally constrained robotic applications. A video demo is provided at our project page, and the code will be publicly available.

Recent progress in 3D object generation has greatly improved both the quality and efficiency. However, most existing methods generate a single mesh with all parts fused together, which limits the ability to edit or manipulate individual parts. A key challenge is that different objects may have a varying number of parts. To address this, we propose a new end-to-end framework for part-level 3D object generation. Given a single input image, our method generates high-quality 3D objects with an arbitrary number of complete and semantically meaningful parts. We introduce a dual volume packing strategy that organizes all parts into two complementary volumes, allowing for the creation of complete and interleaved parts that assemble into the final object. Experiments show that our model achieves better quality, diversity, and generalization than previous image-based part-level generation methods. Our project page is at \url{https://research.nvidia.com/labs/dir/partpacker/}.

In this paper, we consider two fundamental cut approximation problems on large graphs. We prove new lower bounds for both problems that are optimal up to logarithmic factors. The first problem is approximating cuts in balanced directed graphs. In this problem, we want to build a data structure that can provide (1 ± ε)-approximation of cut values on a graph with n vertices. For arbitrary directed graphs, such a data structure requires Ω(n 2 ) bits even for constant ε. To circumvent this, recent works study β-balanced graphs, meaning that for every directed cut, the total weight of edges in one direction is at most β times the total weight in the other direction. We consider the for-each model, where the goal is to approximate each cut with constant probability, and the for-all model, where all cuts must be preserved simultaneously. We improve the previous Ømega(n √β/ε) lower bound in the for-each model to ~Ω (n √β /ε) and we improve the previous Ω(n β/ε) lower bound in the for-all model to Ω(n β/ε 2 ). This resolves the main open questions of (Cen et al., ICALP, 2021). The second problem is approximating the global minimum cut in a local query model, where we can only access the graph via degree, edge, and adjacency queries. We prove an ΩL(min m, m/ε 2 k R) lower bound for this problem, which improves the previous ΩL(m/k R) lower bound, where m is the number of edges, k is the minimum cut size, and we seek a (1+ε)-approximation. In addition, we show that existing upper bounds with minor modifications match our lower bound up to logarithmic factors.