DDAT: Diffusion Policies Enforcing Dynamically Admissible Robot Trajectories

20 February 2025

Jean-Baptiste Bouvier

Papers citing "DDAT: Diffusion Policies Enforcing Dynamically Admissible Robot Trajectories"

42 / 42 papers shown

Title
Safe Flow Matching: Robot Motion Planning with Control Barrier Functions X. Dai Dian Yu Shanshan Zhang Zewen Yang Hamid Sadeghian Sami Haddadin Sandra Hirche 74 1 0 11 Apr 2025
Dynamics-aware Diffusion Models for Planning and Control D. Gadginmath Fabio Pasqualetti 119 3 0 31 Mar 2025
Diffusion Model Predictive Control Guangyao Zhou Sivaramakrishnan Swaminathan Rajkumar Vasudeva Raju J. S. Guntupalli Wolfgang Lehrach Joseph Ortiz Antoine Dedieu Miguel Lázaro-Gredilla Kevin P. Murphy 64 11 0 07 Oct 2024
Differentiable Predictive Control for Robotics: A Data-Driven Predictive Safety Filter Approach John Viljoen Wenceslao Shaw-Cortez Ján Drgoňa Sebastian East Masayoshi Tomizuka D. Vrabie 41 2 0 20 Sep 2024
CGD: Constraint-Guided Diffusion Policies for UAV Trajectory Planning Kota Kondo Andrea Tagliabue Xiaoyi Cai Claudius T. Tewari Olivia Garcia Marcos Espitia-Alvarez Jonathan P. How 72 9 0 02 May 2024
DiffuseLoco: Real-Time Legged Locomotion Control with Diffusion from Offline Datasets Xiaoyu Huang Yufeng Chi Ruofeng Wang Zhongyu Li Xue Bin Peng Sophia Shao Borivoje Nikolic Koushil Sreenath OffRL 112 30 0 30 Apr 2024
Physics-Informed Diffusion Models Jan-Hendrik Bastek WaiChing Sun D. Kochmann DiffM AI4CE 99 15 0 21 Mar 2024
Diff-RNTraj: A Structure-aware Diffusion Model for Road Network-constrained Trajectory Generation Tonglong Wei Youfang Lin Shengnan Guo Yan Lin YiHeng Huang Chenyang Xiang Yuqing Bai Menglu Ya Huaiyu Wan 54 12 0 12 Feb 2024
Constrained Synthesis with Projected Diffusion Models Jacob K Christopher Stephen Baek Ferdinando Fioretto DiffM 73 18 0 05 Feb 2024
DiffuserLite: Towards Real-time Diffusion Planning Zibin Dong Jianye Hao Yifu Yuan Fei Ni Yitian Wang Pengyi Li Yan Zheng 97 20 0 27 Jan 2024
Refining Diffusion Planner for Reliable Behavior Synthesis by Automatic Detection of Infeasible Plans Kyowoon Lee Seongun Kim Jaesik Choi DiffM 53 11 0 30 Oct 2023
NoMaD: Goal Masked Diffusion Policies for Navigation and Exploration A. Sridhar Dhruv Shah Catherine Glossop Sergey Levine 80 123 0 11 Oct 2023
AlignDiff: Aligning Diverse Human Preferences via Behavior-Customisable Diffusion Model Zibin Dong Yifu Yuan Jianye Hao Fei Ni Yao Mu Yan Zheng Yujing Hu Tangjie Lv Changjie Fan Zhipeng Hu 74 30 0 03 Oct 2023
EDMP: Ensemble-of-costs-guided Diffusion for Motion Planning Kallol Saha V. Mandadi Jayaram Reddy Ajit Srikanth Aditya Agarwal Bipasha Sen Arun Singh Madhava Krishna DiffM 46 26 0 20 Sep 2023
Motion Planning Diffusion: Learning and Planning of Robot Motions with Diffusion Models João Carvalho An T. Le Mark Baierl Dorothea Koert Jan Peters DiffM 56 114 0 03 Aug 2023
Trajectory Generation, Control, and Safety with Denoising Diffusion Probabilistic Models N. Botteghi Federico Califano M. Poel C. Brune DiffM AI4CE 56 11 0 27 Jun 2023
SafeDiffuser: Safe Planning with Diffusion Probabilistic Models Wei Xiao Tsun-Hsuan Wang Chuang Gan Daniela Rus DiffM 47 31 0 31 May 2023
Aligning Optimization Trajectories with Diffusion Models for Constrained Design Generation Giorgio Giannone Akash Srivastava Ole Winther Faez Ahmed DiffM AI4CE 49 34 0 29 May 2023
Diffusion Models for Constrained Domains N. Fishman Leo Klarner Valentin De Bortoli Emile Mathieu M. Hutchinson DiffM 61 37 0 11 Apr 2023
Reflected Diffusion Models Aaron Lou Stefano Ermon 52 55 0 10 Apr 2023
Goal-Conditioned Imitation Learning using Score-based Diffusion Policies Moritz Reuss M. Li Xiaogang Jia Rudolf Lioutikov DiffM 116 172 0 05 Apr 2023
Diffusion Policy: Visuomotor Policy Learning via Action Diffusion Cheng Chi Zhenjia Xu S. Feng Eric A. Cousineau Yilun Du Benjamin Burchfiel Russ Tedrake Shuran Song 330 1,170 0 07 Mar 2023
AdaptDiffuser: Diffusion Models as Adaptive Self-evolving Planners Zhixuan Liang Yao Mu Mingyu Ding Fei Ni Masayoshi Tomizuka Ping Luo 104 106 0 03 Feb 2023
Walking in Narrow Spaces: Safety-critical Locomotion Control for Quadrupedal Robots with Duality-based Optimization Qiayuan Liao Zhongyu Li A. Thirugnanam Jun Zeng Koushil Sreenath 62 18 0 29 Dec 2022
Scalable Diffusion Models with Transformers William S. Peebles Saining Xie GNN 77 2,298 0 19 Dec 2022
PhysDiff: Physics-Guided Human Motion Diffusion Model Ye Yuan Jiaming Song Umar Iqbal Arash Vahdat Jan Kautz VGen DiffM 89 252 0 05 Dec 2022
Is Conditional Generative Modeling all you need for Decision-Making? Anurag Ajay Yilun Du Abhi Gupta J. Tenenbaum Tommi Jaakkola Pulkit Agrawal DiffM 113 394 0 28 Nov 2022
Robot Operating System 2: Design, Architecture, and Uses In The Wild Steve Macenski Tully Foote Brian P. Gerkey Chris Lalancette W. Woodall 64 831 0 14 Nov 2022
Guided Conditional Diffusion for Controllable Traffic Simulation Ziyuan Zhong Davis Rempe Danfei Xu Yuxiao Chen Sushant Veer Tong Che Baishakhi Ray Marco Pavone 53 153 0 31 Oct 2022
Diffusion Models Beat GANs on Topology Optimization Franccois Mazé Faez Ahmed DiffM AI4CE 63 63 0 20 Aug 2022
Diffusion Policies as an Expressive Policy Class for Offline Reinforcement Learning Zhendong Wang Jonathan J. Hunt Mingyuan Zhou OffRL 87 374 0 12 Aug 2022
Elucidating the Design Space of Diffusion-Based Generative Models Tero Karras M. Aittala Timo Aila S. Laine DiffM 160 1,967 0 01 Jun 2022
Planning with Diffusion for Flexible Behavior Synthesis Michael Janner Yilun Du J. Tenenbaum Sergey Levine DiffM 300 682 0 20 May 2022
Stochastic Trajectory Prediction via Motion Indeterminacy Diffusion Tianpei Gu Guangyi Chen Junlong Li Chunze Lin Yongming Rao Jie Zhou Jiwen Lu DiffM VGen 341 208 0 25 Mar 2022
Brax -- A Differentiable Physics Engine for Large Scale Rigid Body Simulation C. Freeman Erik Frey Anton Raichuk Sertan Girgin Igor Mordatch Olivier Bachem 96 372 0 24 Jun 2021
Score-Based Generative Modeling through Stochastic Differential Equations Yang Song Jascha Narain Sohl-Dickstein Diederik P. Kingma Abhishek Kumar Stefano Ermon Ben Poole DiffM SyDa 308 6,444 0 26 Nov 2020
Denoising Diffusion Probabilistic Models Jonathan Ho Ajay Jain Pieter Abbeel DiffM 535 18,008 0 19 Jun 2020
D4RL: Datasets for Deep Data-Driven Reinforcement Learning Justin Fu Aviral Kumar Ofir Nachum George Tucker Sergey Levine GP OffRL 210 1,364 0 15 Apr 2020
Differentiable Convex Optimization Layers Akshay Agrawal Brandon Amos Shane T. Barratt Stephen P. Boyd Steven Diamond Zico Kolter 83 657 0 28 Oct 2019
Generative Modeling by Estimating Gradients of the Data Distribution Yang Song Stefano Ermon SyDa DiffM 216 3,893 0 12 Jul 2019
Proximal Policy Optimization Algorithms John Schulman Filip Wolski Prafulla Dhariwal Alec Radford Oleg Klimov OffRL 453 19,006 0 20 Jul 2017
Information Theoretic Model Predictive Control: Theory and Applications to Autonomous Driving Grady Williams P. Drews Brian Goldfain James M. Rehg Evangelos A. Theodorou 148 266 0 07 Jul 2017