Generative models, such as diffusion models and flow matching, are widely used for robot planning. The goal is to model the probability distribution over plausible future trajectories conditioned on the initial state.
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Ke Li 馃崄@KL_Div
Diffusion and flow matching-based robot planners are slow and generate noisy and jerky trajectories.
Delighted to share our ICRA 2026 paper, which leverages IMLE to improve planning frequency 19-fold from 4.3 Hz to 83 Hz and reduces jerk by 38% relative to flow matching.
Joint work w/ Grayson Lee, Minh Bui, Shuzi Zhou, Yankai Li and Mo Chen.
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10:15 PM 路 Jun 1, 2026 路 896 Views