Motion Planning Diffusion: Learning and Planning of Robot Motions with Diffusion Models
João Carvalho,An T. Le,Mark Baierl,Dorothea Koert,Jan Peters,João Carvalho,An T. Le,Mark Baierl,Dorothea Koert,Jan Peters
Learning priors on trajectory distributions can help accelerate robot motion planning optimization. Given previously successful plans, learning trajectory generative models as priors for a new planning problem is highly desirable. Prior works propose several ways on utilizing this prior to bootstrapping the motion planning problem. Either sampling the prior for initializations or using the prior d...
