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cs.RO2025
How Well do Diffusion Policies Learn Kinematic Constraint Manifolds?
Lexi Foland, Thomas Cohn, Adam Wei +3
Diffusion policies have shown impressive results in robot imitation learning, even for tasks that require satisfaction of kinematic equality constraints. However, task performance…
cs.RO2025
Sampling-Based Motion Planning with Discrete Configuration-Space Symmetries
Thomas Cohn, Russ Tedrake
When planning motions in a configuration space that has underlying symmetries (e.g. when manipulating one or multiple symmetric objects), the ideal planning algorithm should take a…