A payload-conditioned diffusion model generates dynamically feasible joint trajectories in about 10 ms, allowing a 7-DoF arm to handle loads over three times its nominal payload across much of its workspace.
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Dynamics-Compliant Trajectory Diffusion for Super-Nominal Payload Manipulation
A payload-conditioned diffusion model generates dynamically feasible joint trajectories in about 10 ms, allowing a 7-DoF arm to handle loads over three times its nominal payload across much of its workspace.