A framework combining Feynman-Kac correctors with a guiding potential mines and repairs novel trajectories to enable diffusion policies to discover diverse executable behaviors in robotic manipulation.
arXiv preprint arXiv:2504.08661 , year=
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PolyFlow is a constrained flow matching framework that embeds polytope constraints into the model dynamics for zero-violation generation with reduced inference latency in planning and control tasks.
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Guided Discovery of New Behaviors using Diffusion Policies
A framework combining Feynman-Kac correctors with a guiding potential mines and repairs novel trajectories to enable diffusion policies to discover diverse executable behaviors in robotic manipulation.
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PolyFlow: Safe and Efficient Polytope-Constrained Flow Matching with Constraint Embedding and Projection-free Update
PolyFlow is a constrained flow matching framework that embeds polytope constraints into the model dynamics for zero-violation generation with reduced inference latency in planning and control tasks.