DiPPeR: Diffusion-based 2D Path Planner applied on Legged Robots
Jianwei Liu,Maria Stamatopoulou,Dimitrios Kanoulas,Jianwei Liu,Maria Stamatopoulou,Dimitrios Kanoulas
In this work, we present DiPPeR, a novel and fast 2D path planning framework for quadrupedal locomotion, leveraging diffusion-driven techniques. Our contributions include a scalable dataset generator for map images and corresponding trajectories, an image-conditioned diffusion planner for mobile robots, and a training/inference pipeline employing CNNs. We validate our approach in several mazes, as...
