SCDP adds lightweight scene encoding and ambiguity detection to pre-trained diffusion policies so they produce legible motions only when goals are unclear and efficient motions otherwise.
In: Proceedings oftheIEEE/CVFInternationalConferenceonComputerVision(ICCV),pp.4172– 4182 (2022)
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Encoding Predictability and Legibility for Style-Conditioned Diffusion Policy
SCDP adds lightweight scene encoding and ambiguity detection to pre-trained diffusion policies so they produce legible motions only when goals are unclear and efficient motions otherwise.