A novel diffusion variant accelerates minimum-time planning for redundant dual-arm robots by replacing gradient-based solving of the nonconvex high-level problem with probabilistic sampling, yielding 35x faster runtime and 34% less path error.
Automatic control system for reach-to-grasp movement of a 7-dof robotic arm using ob- ject pose estimation with an rgb camera,
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Diffusion-Based Optimization for Accelerated Convergence of Redundant Dual-Arm Minimum Time Problems
A novel diffusion variant accelerates minimum-time planning for redundant dual-arm robots by replacing gradient-based solving of the nonconvex high-level problem with probabilistic sampling, yielding 35x faster runtime and 34% less path error.