4 accepted papers
Diffusion models are effective for waypoint prediction in visual navigation, but standard sampling and test time guidance can produce unsafe or inefficient trajectories when updates drift off the training manifold. We propose Fisher Preserving Guidance with Outer Product Span Projection, a training-…
High-quality motion planning for mobile manipulators remains a challenging task due to the high dimensionality and complex constraints involved. While existing methods perform well in specific scenarios, their efficiency and the quality of the resulting paths and trajectories often degrade in dense
Mobile manipulation is a crucial problem in various real-world applications. However, existing methods have demonstrated unsatisfactory training efficiency and sparse rewards, requiring complex coordination strategies between the mobile base and arm. In this paper, we propose RM-Planner, a planning
Slow-time coded waveforms are commonly used in automotive multiple-input multiple-output (MIMO) radar to achieve inter-channel spatial diversity. Typical waveforms, such as Doppler division multiple access (DDMA) and code division multiple access (CDMA), are known to suffer from Doppler ambiguity an…