PAPER
Publications / 2025
D4orm: Multi-Robot Trajectories with Dynamics-aware Diffusion Denoised Deformations
Yixiao Zhang, Keisuke Okumura, Heedo Woo, Ajay Shankar, Amanda Prorok
IROS 2025 · July 2025
Abstract
An optimisation method for generating kinodynamically feasible and collision-free multi-robot trajectories that exploits an incremental denoising scheme from diffusion models. Evaluated for differential-drive and holonomic teams with up to 16 robots in 2D and 3D worlds.
Paper
Talk recording