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cs.RO2025
CAPE: Context-Aware Diffusion Policy Via Proximal Mode Expansion for Collision Avoidance
Rui Heng Yang, Xuan Zhao, Leo Maxime Brunswic +5
In robotics, diffusion models can capture multi-modal trajectories from demonstrations, making them a transformative approach in imitation learning. However, achieving optimal perf…
cs.RO2025
Two-Steps Diffusion Policy for Robotic Manipulation via Genetic Denoising
Mateo Clemente, Leo Brunswic, Rui Heng Yang +5
Diffusion models, such as diffusion policy, have achieved state-of-the-art results in robotic manipulation by imitating expert demonstrations. While diffusion models were originall…