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DynaGuide: Steering Diffusion Polices with Active Dynamic Guidance
Maximilian Du, Shuran Song
https://arxiv.org/abs/2506.13922 https://

DynaGuide: Steering Diffusion Polices with Active Dynamic Guidance
Deploying large, complex policies in the real world requires the ability to steer them to fit the needs of a situation. Most common steering approaches, like goal-conditioning, require training the robot policy with a distribution of test-time objectives in mind. To overcome this limitation, we present DynaGuide, a steering method for diffusion policies using guidance from an external dynamics model during the diffusion denoising process. DynaGuide separates the dynamics model from the base pol…

Diffusion Tensor MRI and Spherical-Deconvolution-Based Tractography on an Ultra-Low Field Portable MRI System
James Gholam, Phil Schmid, Joshua Ametepe, Alix Plumley, Leandro Beltrachini, Francesco Padormo, Rui Teixeira, Rafael OHalloran, Kaloian Petkov, Klaus Engel, Steven CR Williams, Sean Deoni, Mara Cercignani, Derek K Jones
https://

Diffusion Tensor MRI and Spherical-Deconvolution-Based Tractography on an Ultra-Low Field Portable MRI System
Ultra-low-field (ULF) MRI is emerging as an alternative modality to high-field (HF) MRI due to its lower cost, minimal siting requirements, portability, and enhanced accessibility factors that enable large-scale deployment. Although ULF-MRI exhibits lower signal-to-noise ratio (SNR), advanced imaging and data-driven denoising methods enabled by high-performance computing have made contrasts like diffusion-weighted imaging (DWI) feasible at ULF. This study investigates the potential and limitati…