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.
Topay: Efficient trajectory planning for differential drive mobile manipulators via topological paths search and arc length-yaw parameterization
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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.