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Xuefeng Hu

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2 papers
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2

NeurIPS Conference 2025 Conference Paper

DiCo: Revitalizing ConvNets for Scalable and Efficient Diffusion Modeling

  • Yuang Ai
  • Qihang Fan
  • Xuefeng Hu
  • Zhenheng Yang
  • Ran He
  • Huaibo Huang

Diffusion Transformer (DiT), a promising diffusion model for visual generation, demonstrates impressive performance but incurs significant computational overhead. Intriguingly, analysis of pre-trained DiT models reveals that global self-attention is often redundant, predominantly capturing local patterns—highlighting the potential for more efficient alternatives. In this paper, we revisit convolution as an alternative building block for constructing efficient and expressive diffusion models. However, naively replacing self-attention with convolution typically results in degraded performance. Our investigations attribute this performance gap to the higher channel redundancy in ConvNets compared to Transformers. To resolve this, we introduce a compact channel attention mechanism that promotes the activation of more diverse channels, thereby enhancing feature diversity. This leads to Diffusion ConvNet (DiCo), a family of diffusion models built entirely from standard ConvNet modules, offering strong generative performance with significant efficiency gains. On class-conditional ImageNet generation benchmarks, DiCo-XL achieves an FID of 2. 05 at 256$\times$256 resolution and 2. 53 at 512$\times$512, with a **2. 7$\times$** and **3. 1$\times$** speedup over DiT-XL/2, respectively. Furthermore, experimental results on MS-COCO demonstrate that the purely convolutional DiCo exhibits strong potential for text-to-image generation.

IROS Conference 2022 Conference Paper

SPARCS: Structuring Physically Assistive Robotics for Caregiving with Stakeholders-in-the-loop

  • Rishabh Madan
  • Rajat Kumar Jenamani
  • Vy Thuy Nguyen
  • Ahmed Moustafa
  • Xuefeng Hu
  • Katherine Dimitropoulou
  • Tapomayukh Bhattacharjee

Existing work in physical robot caregiving is limited in its ability to provide long-term assistance. This is majorly due to (i) lack of well-defined problems, (ii) diversity of tasks, and (iii) limited access to stakeholders from the caregiving community. We propose Structuring Physically Assistive Robotics for Caregiving with Stakeholders-in-the-loop (SPARCS) to address these challenges. SPARCS is a framework for physical robot caregiving comprising (i) Building Blocks, models that define physical robot caregiving scenarios, (ii) Structured Workflows, hierarchical workflows that enable us to answer the Whats and Hows of physical robot caregiving, and (iii) SPARCS-box, a web-based platform to facilitate dialogue between all stakeholders. We collect clinical data for six care recipients with varying disabilities and demonstrate the use of SPARCS in designing well-defined caregiving scenarios and identifying their care requirements. All the data and workflows are available on SPARCS-box. We demonstrate the utility of SPARCS in building a robot-assisted feeding system for one of the care recipients. We also perform experiments to show the adaptability of this system to different caregiving scenarios. Finally, we identify open challenges in physical robot caregiving by consulting care recipients and caregivers. Supplementary material can be found at emprise. cs. cornell. edu/sparcs.

v2026.09.13