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simmediumlocomotionmetric · varies
M2Diffuser: Diffusion-based Trajectory Optimization for Mobile Manipulation in 3D Scenes
Description
Recent advances in diffusion models have opened new avenues for research into embodied AI agents and robotics. Despite significant achievements in complex robotic locomotion and skills, mobile manipulation-a capability that requires the coordination of navigation and manipulation-remains a challenge for generative AI techniques. This is primarily due to the high-dimensional action space, extended motion trajectories, and interactions with the surrounding environment. In this paper, we introduce