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cs.RO2026
Grounding Generative Policies in Physics: Optimization-Guided Diffusion for Robot Control
Sabrina Bodmer, René Zurbrügg, Tifanny Portela +5
Diffusion models sample effectively from high-dimensional, multimodal distributions, but their outputs may violate deployment constraints. For task-space robot policies, generated…
cs.RO2026
GraspLDP: Towards Generalizable Grasping Policy via Latent Diffusion
Enda Xiang, Haoxiang Ma, Xinzhu Ma +2
This paper focuses on enhancing the grasping precision and generalization of manipulation policies learned via imitation learning. Diffusion-based policy learning methods have rece…