{"id":"https://openalex.org/W4405903272","doi":"https://doi.org/10.1007/978-981-92-2759-4_20","title":"RobotDiffuse: Diffusion-Based Motion Planning for\u00a0Redundant Manipulators with\u00a0the\u00a0ROP Obstacle Avoidance Dataset","display_name":"RobotDiffuse: Diffusion-Based Motion Planning for\u00a0Redundant Manipulators with\u00a0the\u00a0ROP Obstacle Avoidance Dataset","publication_year":2026,"publication_date":"2026-07-15","ids":{"openalex":"https://openalex.org/W4405903272","doi":"https://doi.org/10.1007/978-981-92-2759-4_20"},"language":"en","primary_location":{"id":"doi:10.1007/978-981-92-2759-4_20","is_oa":false,"landing_page_url":"https://doi.org/10.1007/978-981-92-2759-4_20","pdf_url":null,"source":{"id":"https://openalex.org/S106296714","display_name":"Lecture notes in computer science","issn_l":"0302-9743","issn":["0302-9743","1611-3349"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"book series"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Lecture Notes in Computer Science","raw_type":"book-chapter"},"type":"conference-paper","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2412.19500","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5006458284","display_name":"Xudong Mou","orcid":"https://orcid.org/0009-0005-1445-3742"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xudong Mou","raw_affiliation_strings":["School of Computer Science and Engineering, Beihang University, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0005-1445-3742","affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100431069","display_name":"Xiaohan Zhang","orcid":"https://orcid.org/0009-0000-3156-7315"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaohan Zhang","raw_affiliation_strings":["School of Computer Science and Engineering, Beihang University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-9575-9604","affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100438108","display_name":"Tiejun Wang","orcid":"https://orcid.org/0000-0002-1062-9051"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tiejun Wang","raw_affiliation_strings":["School of Computer Science and Engineering, Beihang University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0003-0391-8661","affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066123431","display_name":"Tianyu Wo","orcid":"https://orcid.org/0000-0002-5331-3364"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Tianyu Wo","raw_affiliation_strings":["Hangzhou Innovation Institute, Beihang University, Hangzhou, China","School of Software, Beihang University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0002-5331-3364","affiliations":[{"raw_affiliation_string":"Hangzhou Innovation Institute, Beihang University, Hangzhou, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"School of Software, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000133042","display_name":"Cheng\u2010Yan Xu","orcid":"https://orcid.org/0000-0002-7835-6635"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Cangbai Xu","raw_affiliation_strings":["School of Computer Science and Engineering, Beihang University, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0004-1361-0753","affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100431392","display_name":"Rui Wang","orcid":"https://orcid.org/0000-0003-2777-3911"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rui Wang","raw_affiliation_strings":["School of Computer Science and Engineering, Beihang University, Beijing, China"],"raw_orcid":"https://orcid.org/0009-0004-5900-605X","affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103326352","display_name":"Liu Xu-dong","orcid":"https://orcid.org/0000-0001-8566-660X"},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xudong Liu","raw_affiliation_strings":["Hangzhou Innovation Institute, Beihang University, Hangzhou, China","School of Computer Science and Engineering, Beihang University, Beijing, China"],"raw_orcid":"https://orcid.org/0000-0001-8566-660X","affiliations":[{"raw_affiliation_string":"Hangzhou Innovation Institute, Beihang University, Hangzhou, China","institution_ids":["https://openalex.org/I82880672"]},{"raw_affiliation_string":"School of Computer Science and Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5066123431"],"corresponding_institution_ids":["https://openalex.org/I82880672"],"apc_list":{"value":5000,"currency":"EUR","value_usd":5392},"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"271","last_page":"282"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9620000123977661,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9620000123977661,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9492999911308289,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.7180718779563904},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5964483022689819},{"id":"https://openalex.org/keywords/diffusion","display_name":"Diffusion","score":0.5823866724967957},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5307329297065735},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.49463126063346863},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.275392085313797},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.19275489449501038},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.13876834511756897}],"concepts":[{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.7180718779563904},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5964483022689819},{"id":"https://openalex.org/C69357855","wikidata":"https://www.wikidata.org/wiki/Q163214","display_name":"Diffusion","level":2,"score":0.5823866724967957},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5307329297065735},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.49463126063346863},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.275392085313797},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.19275489449501038},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.13876834511756897},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1007/978-981-92-2759-4_20","is_oa":false,"landing_page_url":"https://doi.org/10.1007/978-981-92-2759-4_20","pdf_url":null,"source":{"id":"https://openalex.org/S106296714","display_name":"Lecture notes in computer science","issn_l":"0302-9743","issn":["0302-9743","1611-3349"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"book series"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Lecture Notes in Computer Science","raw_type":"book-chapter"},{"id":"pmh:oai:arXiv.org:2412.19500","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2412.19500","pdf_url":"https://arxiv.org/pdf/2412.19500","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":null},{"id":"doi:10.48550/arxiv.2412.19500","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2412.19500","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2412.19500","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2412.19500","pdf_url":"https://arxiv.org/pdf/2412.19500","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":null},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":null,"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2025-10-10T00:00:00"}