A diffusion policy can satisfy novel state and action constraints by projecting each denoising step onto a dynamics-constrained feasible set and tightening those constraints to account for model mismatch.
C onstrained S ynthesis with P rojected D iffusion M odels
1 Pith paper cite this work. Polarity classification is still indexing.
1
Pith paper citing it
fields
cs.RO 1years
2024 1verdicts
CONDITIONAL 1representative citing papers
citing papers explorer
-
Diffusion Predictive Control with Constraints
A diffusion policy can satisfy novel state and action constraints by projecting each denoising step onto a dynamics-constrained feasible set and tightening those constraints to account for model mismatch.