SCP integrates diffusion-based imitation learning with Gaussian-encoded surface constraints and dynamic movement primitives to generate actions with improved success rates and contact stability on free-form surfaces.
FRMD: Fast Robot Motion Diffusion with Consistency- Distilled Movement Primitives for Smooth Action Generation[J]
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Surface Constraint Policy for Learning Surface-Constrained and Dynamically Feasible Robot Skills
SCP integrates diffusion-based imitation learning with Gaussian-encoded surface constraints and dynamic movement primitives to generate actions with improved success rates and contact stability on free-form surfaces.