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cs.RO2024★ 4 cited
3D Diffuser Actor: Policy Diffusion with 3D Scene Representations
Tsung-Wei Ke, Nikolaos Gkanatsios, Katerina Fragkiadaki
Diffusion policies are conditional diffusion models that learn robot action distributions conditioned on the robot and environment state. They have recently shown to outperform bot…
cs.LG2024★ 1 cited
Diffusion-ES: Gradient-free Planning with Diffusion for Autonomous Driving and Zero-Shot Instruction Following
Brian Yang, Huangyuan Su, Nikolaos Gkanatsios +4
Diffusion models excel at modeling complex and multimodal trajectory distributions for decision-making and control. Reward-gradient guided denoising has been recently proposed to g…