EDMP: Ensemble-of-costs-guided Diffusion for Motion Planning
Published in IEEE International Conference on Robotics and Automation (ICRA 2024), 2024
We propose EDMP, a diffusion-based motion planning approach guided by an ensemble of cost functions. By combining multiple guidance signals during the reverse diffusion process, EDMP generates diverse, collision-free trajectories for robot motion planning in complex 3D environments.
Authors: Kallol Saha*, Vishal Mandadi*, Jayaram Reddy*, Ajit Srikanth, Aditya Agarwal, Bipasha Sen, Arun Singh, Madhava Krishna
(* equal contribution)