Control-Ready Uncertainty for Trajectory Diffusion
Overview
SCOPE improves real-time robot control by providing fast, calibrated uncertainty estimates without Monte Carlo sampling, enhancing safety and performance in tasks like pedestrian forecasting and robot manipulation. Latest research proposes this method as a lightweight module for diffusion trajectory models. Latest: SCOPE enables adaptive exploration and risk assessment in real-time control scenarios. Latest: Project page: https://zackaxue.github.io/SCOPE-project-page/
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- arXiv Robotics — research abstractsControl-Ready Uncertainty for Trajectory Diffusion
This research proposes SCOPE, a method that augments diffusion trajectory models with control-ready uncertainty estimation. By distilling score-curvature information, SCOPE provides fast, calibrated Gaussian tubes for uncertainty estimation without Monte Carlo sampling, improving closed-loop performance in tasks like pedestrian forecasting and real-world robot manipulation.
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