Horizon-Coupled Obstacle Guidance for Relative-Action Diffusion Policies
Overview
This research introduces an inference-time obstacle-guidance framework for pretrained relative-action diffusion policies that propagates obstacle responses across the action horizon to coordinate task-directed avoidance. Experiments on real robots across seven obstacle-constrained scenarios show the method achieves 105 out of 140 (75.0%) collision-free task successes, compared to 8 out of 140 (5.7%) for absolute-action pointwise guidance. Ablation studies indicate that the relative-action horizon-coupled formulation yields larger improvements across both tested obstacle models.
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Event evidence and corrections
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Reported quantity · total trials: 140 other · Basis not reported
“pagates each obstacle response to all contributing action increments during denoising. Real-robot experiments across seven obstacleconstrained scenarios spanning four manipulation tasks show that our method achieves 105/140 (75.0%) collision-free task successes, compared with 8/140 (5.7%) for absolute-action pointwise guidance. Ablations show that the relative-action horizoncoupled formulation provides the larger obs”
Exact source · revision 1Source owner not reported
Reported quantity · scenarios: 7 other · Basis not reported
“pagates each obstacle response to all contributing action increments during denoising. Real-robot experiments across seven obstacleconstrained scenarios spanning four manipulation tasks show that our method achieves 105/140 (75.0%) collision-free task successes, compared with 8/140 (5.7%) for absolute-action pointwise guidance. Ablations show that the relative-action horizoncoupled formulation provides the larger obs”
Exact source · revision 1Source owner not reported
Reported quantity · manipulation tasks: 4 other · Basis not reported
“pagates each obstacle response to all contributing action increments during denoising. Real-robot experiments across seven obstacleconstrained scenarios spanning four manipulation tasks show that our method achieves 105/140 (75.0%) collision-free task successes, compared with 8/140 (5.7%) for absolute-action pointwise guidance. Ablations show that the relative-action horizoncoupled formulation provides the larger obs”
Exact source · revision 1Source owner not reported
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- arXiv Robotics — research abstractsSignalHorizon-Coupled Obstacle Guidance for Relative-Action Diffusion Policies
This research introduces an inference-time obstacle-guidance framework for pretrained relative-action diffusion policies that propagates obstacle responses across the action horizon to coordinate task-directed avoidance. Experiments on real robots across seven obstacle-constrained scenarios show the method achieves 105 out of 140 (75.0%) collision-free task successes, compared to 8 out of 140 (5.7%) for absolute-action pointwise guidance. Ablation studies indicate that the relative-action horizon-coupled formulation yields larger improvements across both tested obstacle models.
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