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cs.RO2024
Goal State Generation for Robotic Manipulation Based on Linguistically Guided Hybrid Gaussian Diffusion
Yichen Xu, Faliang Chang, Chunsheng Liu +1
In robotic manipulation tasks, achieving a designated target state for the manipulated object is often essential to facilitate motion planning for robotic arms. Specifically, in ta…
cs.RO2024
Hierarchical Diffusion Policy: manipulation trajectory generation via contact guidance
Dexin Wang, Chunsheng Liu, Faliang Chang +1
Decision-making in robotics using denoising diffusion processes has increasingly become a hot research topic, but end-to-end policies perform poorly in tasks with rich contact and…