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To Route or to Adapt? Multi-Expert Diffusion Planners in Unseen Regions

Li, Yun et al.
arXiv (All) · Papers
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robotics
Diffusion trajectory planners with domain-specific experts face a practical question in unseen regions: can they rely on selecting among existing experts, or must the planner itself adapt? We study this question using a planner with a shared adapter and per-domain expert adapters. Across three real-
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