TL;DR通过 Dynamics-Guided Diffusion Model 生成操纵性机器人的几何设计,利用目标交互配置来指导设计优化过程以及加强数据驱动方法在机器人结构设计中的应用。
Abstract
We present dynamics-guided diffusion model, a data-driven framework for
generating manipulator geometry designs for a given manipulation task. Instead
of training different design models for each task, our approa