EDMP: Ensemble-of-costs-guided Diffusion for Motion Planning
Kallol Saha,Vishal Mandadi,Jayaram Reddy,Ajit Srikanth,Aditya Agarwal,Bipasha Sen,Arun Singh,Madhava Krishna,Kallol Saha,Vishal Mandadi,Jayaram Reddy,Ajit Srikanth,Aditya Agarwal,Bipasha Sen,Arun Singh,Madhava Krishna
Classical motion planning for robotic manipulation includes a set of general algorithms that aim to minimize a scene-specific cost of executing a given plan. This approach offers remarkable adaptability, as they can be directly used off-the-shelf for any new scene without needing specific training datasets. However, without a prior understanding of what diverse valid trajectories are and without s...