A primitive-based truncated diffusion model with keypoint attention encoding generates more efficient and diverse trajectories for mobile manipulators than vanilla diffusion in cluttered 3D simulations.
Manipulator motion planning for part pickup and transport operations from a mov- ing base
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Primitive-based Truncated Diffusion for Efficient Trajectory Generation of Differential Drive Mobile Manipulators
A primitive-based truncated diffusion model with keypoint attention encoding generates more efficient and diverse trajectories for mobile manipulators than vanilla diffusion in cluttered 3D simulations.