SCDP adds lightweight scene encoding and ambiguity detection to pre-trained diffusion policies so they produce legible motions only when goals are unclear and efficient motions otherwise.
In: IEEE Transactions on Cybernetics54(12), 7173–7186 (2024)
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Encoding Predictability and Legibility for Style-Conditioned Diffusion Policy
SCDP adds lightweight scene encoding and ambiguity detection to pre-trained diffusion policies so they produce legible motions only when goals are unclear and efficient motions otherwise.