Robotics paper index

The Noise Plane: A Diffusion Bridge Across Exponent and Dispersion

2026-10-27 · arXiv: 2610.37576

One-line summary

A robotics research paper on The Noise Plane: A Diffusion Bridge Across Exponent and Dispersion.

Engineering notes

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Chinese explanation / 中文解读

中文解读待补充:本站会优先为 VLA、具身智能、人形机器人控制、机器人操作等高价值论文补充中文说明。

Original abstract

Diffusion-based denoising commonly uses Gaussian perturbations, whereas sensor noise follows diverse signal-dependent statistical laws. In this paper, we propose $p$-Bridge, a unified measurement-indexed diffusion framework for Tweedie noise. The noise exponent $p$ describes the variance--intensity relation, while accumulated measurement $ν$ controls the noise level. Together, they define a noise plane that includes Gaussian, Poisson, and Gamma models. The stochastic bridge connects measurement distributions through independent increments, giving denoising a physical interpretation as progressive measurement accumulation. Both the starting and stopping indices can be specified, allowing restoration from an observed measurement level to a prescribed higher level. Measurement superposition yields a shared reverse-mean update, paired with a deviance-based objective for learning the required conditional mean. A latent compound Poisson--Gamma construction enables sampling at intermediate exponents. A single exponent-conditioned network adapts to different Tweedie noise models without separate training for each exponent. Experiments show that exponent conditioning improves cross-exponent robustness over fixed-exponent models. Using estimated exponents, the shared network achieves robustness comparable to an oracle-selected set of five specialist models. Experiments on synthetic images, FMD fluorescence microscopy, and multi-sensor SAR images further demonstrate its effectiveness across different signal-dependent noise regimes.

5.0Engineering value
7.0Research novelty
4.0Business relevance

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