DiffusionSeeder: 拡散モデルによる運動最適化のシード生成で高速動作計画

原文アブストラクト

Running optimization across many parallel seeds leveraging GPU compute have relaxed the need for a good initialization, but this can fail if the problem is highly non-convex as all seeds could get stuck in local minima. One such setting is collision-free motion optimization for robot manipulation, where optimization converges quickly on easy problems but struggle in obstacle dense environments (e.g., a cluttered cabinet or table). In these situations, graph-based planning algorithms are used to obtain seeds, resulting in significant slowdowns. We propose DiffusionSeeder, a diffusion based approach that generates trajectories to seed motion optimization for rapid robot motion planning. DiffusionSeeder takes the initial depth image observation of the scene and generates high quality, multi-modal trajectories that are then fine-tuned with a few iterations of motion optimization. We integrate DiffusionSeeder to generate the seed trajectories for cuRobo, a GPU-accelerated motion optimization method, which results in 12x speed up on average, and 36x speed up for more complicated problems, while achieving 10% higher success rate in partially observed simulation environments. Our results show the effectiveness of using diverse solutions from a learned diffusion model. Physical experiments on a Franka robot demonstrate the sim2real transfer of DiffusionSeeder to the real robot, with an average success rate of 86% and planning time of 26ms, improving on cuRobo by 51% higher success rate while also being 2.5x faster.