MANIPULATION
抓取、传递、旋转：通过组合扩散与基于能量的优化实现双臂物体重新定向
Wun Lam Yeung, Wenjun Liu, Yui Cheung Yu, Zhengyan Lambo Qin, Qijin She, Heng Li, Ziqi Wang, Ping Tan
- 发表年份
- 2026
- 访问权限
- 开放获取
摘要
本文提出BiCompoDiff框架，结合组合扩散模型与能量基优化，在多个约束下联合优化抓取选择、传递、重抓取和运动规划。实验表明该方法在模拟和真实场景中成功率提升20%以上，轨迹平滑度提高37%。
关键词
bimanual manipulationobject reorientationcompositional diffusionenergy-based optimizationgrasp planning
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