COLSON applies diffusion models to reinforcement learning for social robot navigation and adds controllability mechanisms that enable zero-shot adaptation to unseen static obstacles and altered objectives.
DR-SPAAM: A Spatial-Attention and Auto-regressive Model for Person Detection in 2D Range Data,
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COLSON: Controllable Learning-Based Social Navigation via Diffusion-Based Reinforcement Learning
COLSON applies diffusion models to reinforcement learning for social robot navigation and adds controllability mechanisms that enable zero-shot adaptation to unseen static obstacles and altered objectives.