A language-conditioned hybrid Gaussian diffusion network generates mug-hanging poses in simulation, then uses a gravity-based overlap removal step to produce collision-free target states.
Denoising diffusion probabilistic models[J]
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Goal State Generation for Robotic Manipulation Based on Linguistically Guided Hybrid Gaussian Diffusion
A language-conditioned hybrid Gaussian diffusion network generates mug-hanging poses in simulation, then uses a gravity-based overlap removal step to produce collision-free target states.