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Refining Compositional Diffusion for Reliable Long-Horizon Planning

Lee, Kyowoon et al.
arXiv (All) · Papers
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machine-learningrobotics
Compositional diffusion planning generates long-horizon trajectories by stitching together overlapping short-horizon segments through score composition. However, when local plan distributions are multimodal, existing compositional methods suffer from mode-averaging, where averaging incompatible loca
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