All diffusion models generate state-action trajectories with projections starting from either the beginning of inference, i.e., projecting at all noise levels, or starting mid-inference, or project only once after inference.
Objective: slalom between obstacles to reach the target.
@inproceedings{bouvier2025ddat,
title = {DDAT: Diffusion Policies Enforcing Dynamically Admissible Robot Trajectories},
author = {Bouvier, Jean-Baptiste and Ryu, Kanghyun and Nagpal, Kartik and Liao, Qiayuan and Sreenath, Koushil and Mehr, Negar},
booktitle = {under review},
year = {2025}
}