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cs.RO2025
Joint Model-based Model-free Diffusion for Planning with Constraints
Wonsuhk Jung, Utkarsh A. Mishra, Nadun Ranawaka Arachchige +3
Model-free diffusion planners have shown great promise for robot motion planning, but practical robotic systems often require combining them with model-based optimization modules t…
cs.RO2025
SAIL: Faster-than-Demonstration Execution of Imitation Learning Policies
Nadun Ranawaka Arachchige, Zhenyang Chen, Wonsuhk Jung +8
Offline Imitation Learning (IL) methods such as Behavior Cloning are effective at acquiring complex robotic manipulation skills. However, existing IL-trained policies are confined…