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cs.RO2026
Diffusion-Based Optimization for Accelerated Convergence of Redundant Dual-Arm Minimum Time Problems
Jushan Chen, Jonathan Fried, Santiago Paternain
We present a framework leveraging a novel variant of the model-based diffusion algorithm to minimize the time required for a redundant dual-arm robot configuration to follow a desi…
cs.RO2026
PAD-TRO: Projection-Augmented Diffusion for Direct Trajectory Optimization
Jushan Chen, Santiago Paternain
Recently, diffusion models have gained popularity and attention in trajectory optimization due to their capability of modeling multi-modal probability distributions. However, addre…