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cs.RO2025
Robot Motion Planning using One-Step Diffusion with Noise-Optimized Approximate Motions
Tomoharu Aizu, Takeru Oba, Yuki Kondo +1
This paper proposes an image-based robot motion planning method using a one-step diffusion model. While the diffusion model allows for high-quality motion generation, its computati…
cs.RO2023★ 2 cited
Cold Diffusion on the Replay Buffer: Learning to Plan from Known Good States
Zidan Wang, Takeru Oba, Takuma Yoneda +3
Learning from demonstrations (LfD) has successfully trained robots to exhibit remarkable generalization capabilities. However, many powerful imitation techniques do not prioritize…