Muninn accelerates diffusion trajectory planners up to 4.6x by spending an uncertainty budget to decide when to cache denoiser outputs, preserving performance and certifying bounded deviation from full computation.
A reduction of imitation learning and structured prediction to no-regret online learning
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Muninn: Your Trajectory Diffusion Model But Faster
Muninn accelerates diffusion trajectory planners up to 4.6x by spending an uncertainty budget to decide when to cache denoiser outputs, preserving performance and certifying bounded deviation from full computation.