MIMIC-D enables multi-modal multi-agent coordination via joint training of decentralized diffusion policies using only local information.
Elucidating the design space of diffusion-based generative models
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A primitive-based truncated diffusion model with keypoint attention encoding generates more efficient and diverse trajectories for mobile manipulators than vanilla diffusion in cluttered 3D simulations.
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MIMIC-D: Multi-modal Imitation for MultI-agent Coordination with Decentralized Diffusion Policies
MIMIC-D enables multi-modal multi-agent coordination via joint training of decentralized diffusion policies using only local information.
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Primitive-based Truncated Diffusion for Efficient Trajectory Generation of Differential Drive Mobile Manipulators
A primitive-based truncated diffusion model with keypoint attention encoding generates more efficient and diverse trajectories for mobile manipulators than vanilla diffusion in cluttered 3D simulations.