2026
CAPE: Context-Aware Diffusion Policy Via Proximal Mode Expansion for Collision Avoidance
Rui Heng Yang, Xuan Zhao, Léo Maxime Brunswic, Montgomery Tucker Alban, Matéo Clémente, Tongtong Cao +2
ICRA 2026poster
In robotics, diffusion models can capture multi-modal trajectories from demonstrations, making them a transformative approach in imitation learning. However, achieving optimal performance following this regiment requires a large-scale dataset, which is costly to obtain, especially for challenging ta…