Constraining removal volume per action makes a geometric grinding simulator accurate enough that diffusion-planned cutting sequences transfer to a real robot without real-world training data.
Motion plan- ning diffusion: Learning and planning of robot motions with diffusion models,
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Cutting Sequence Diffuser: Sim-to-Real Transferable Planning for Object Shaping by Grinding
Constraining removal volume per action makes a geometric grinding simulator accurate enough that diffusion-planned cutting sequences transfer to a real robot without real-world training data.