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cs.RO2024
Generative Factor Chaining: Coordinated Manipulation with Diffusion-based Factor Graph
Utkarsh A. Mishra, Yongxin Chen, Danfei Xu
Learning to plan for multi-step, multi-manipulator tasks is notoriously difficult because of the large search space and the complex constraint satisfaction problems. We present Gen…
cs.RO2024★ 5 cited
Generative Skill Chaining: Long-Horizon Skill Planning with Diffusion Models
Utkarsh A. Mishra, Shangjie Xue, Yongxin Chen +1
Long-horizon tasks, usually characterized by complex subtask dependencies, present a significant challenge in manipulation planning. Skill chaining is a practical approach to solvi…