Example Training Data | Placement Poses Generated by Diffusion-CCSP | Execution Trajectories Planning by RRT |
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This paper introduces an approach for learning to solve continuous constraint satisfaction problems (CCSP) in robotic reasoning and planning. Previous methods primarily rely on hand-engineering or learning generators for specific constraint types and then rejecting the value assignments when other constraints are violated. By contrast, our model, the compositional diffusion continuous constraint solver (Diffusion-CCSP) derives global solutions to CCSPs by representing them as factor graphs and combining the energies of diffusion models trained to sample for individual constraint types. Diffusion-CCSP exhibits strong generalization to novel combinations of known constraints, and it can be integrated into a task and motion planner to devise long-horizon plans that include actions with both discrete and continuous parameters.
Constraints in the above tasks:
Note that:
@inproceedings{yang2023diffusion,
title={{Compositional Diffusion-Based Continuous Constraint Solvers}},
author={Yang, Zhutian and Mao, Jiayuan and Du, Yilun and Wu, Jiajun and Tenenbaum, Joshua B. and Lozano-P{\'e}rez, Tom{\'a}s and Kaelbling, Leslie Pack},
booktitle={Conference on Robot Learning},
year={2023},
}