SE(3)-DiffusionFields: Learning smooth cost functions for joint grasp and motion optimization through diffusion
Julen Urain,Niklas Funk,Jan Peters,Georgia Chalvatzaki,Julen Urain,Niklas Funk,Jan Peters,Georgia Chalvatzaki
Multi-objective optimization problems are ubiquitous in robotics, e.g., the optimization of a robot manipulation task requires a joint consideration of grasp pose configurations, collisions and joint limits. While some demands can be easily hand-designed, e.g., the smoothness of a trajectory, several task-specific objectives need to be learned from data. This work introduces a method for learning ...
