A consistency-distilled diffusion model generates 150 collision-aware joint trajectories for a 6-DoF HRI manipulator in about 95 ms, with a jerk penalty improving smoothness.
Channel-attention 1d-cnns for real- time collision detection in human-robot interaction via audio spectral features,
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Accelerating Human-Aware Robot Trajectory Generation via Diffusion and Consistency Distillation
A consistency-distilled diffusion model generates 150 collision-aware joint trajectories for a 6-DoF HRI manipulator in about 95 ms, with a jerk penalty improving smoothness.