{"id":"https://openalex.org/W4383109488","doi":"https://doi.org/10.1109/icra48891.2023.10161569","title":"SE(3)-DiffusionFields: Learning smooth cost functions for joint grasp and motion optimization through diffusion","display_name":"SE(3)-DiffusionFields: Learning smooth cost functions for joint grasp and motion optimization through diffusion","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383109488","doi":"https://doi.org/10.1109/icra48891.2023.10161569"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10161569","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10161569","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5067156748","display_name":"Julen Urain","orcid":"https://orcid.org/0000-0003-1135-6654"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technical University of Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Julen Urain","raw_affiliation_strings":["Technische Universität Darmstadt (Germany)"],"affiliations":[{"raw_affiliation_string":"Technische Universität Darmstadt (Germany)","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003044858","display_name":"Niklas Funk","orcid":"https://orcid.org/0000-0002-9682-1529"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technical University of Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Niklas Funk","raw_affiliation_strings":["Technische Universität Darmstadt (Germany)"],"affiliations":[{"raw_affiliation_string":"Technische Universität Darmstadt (Germany)","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063321196","display_name":"Jan Peters","orcid":"https://orcid.org/0000-0001-9328-3078"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technical University of Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]},{"id":"https://openalex.org/I4210122262","display_name":"Institut des Sciences Cognitives Marc Jeannerod","ror":"https://ror.org/02he5dz58","country_code":"FR","type":"facility","lineage":["https://openalex.org/I100532134","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I203339264","https://openalex.org/I4210096427","https://openalex.org/I4210122262"]},{"id":"https://openalex.org/I33256026","display_name":"German Research Centre for Artificial Intelligence","ror":"https://ror.org/01ayc5b57","country_code":"DE","type":"funder","lineage":["https://openalex.org/I33256026"]}],"countries":["DE","FR"],"is_corresponding":false,"raw_author_name":"Jan Peters","raw_affiliation_strings":["Technische Universität Darmstadt (Germany)","German Research Center for AI (DFKI)","Hessian.AI","Centre for Cognitive Science"],"affiliations":[{"raw_affiliation_string":"Technische Universität Darmstadt (Germany)","institution_ids":["https://openalex.org/I31512782"]},{"raw_affiliation_string":"German Research Center for AI (DFKI)","institution_ids":["https://openalex.org/I33256026"]},{"raw_affiliation_string":"Hessian.AI","institution_ids":[]},{"raw_affiliation_string":"Centre for Cognitive Science","institution_ids":["https://openalex.org/I4210122262"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5026055366","display_name":"Georgia Chalvatzaki","orcid":"https://orcid.org/0000-0002-5055-199X"},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technical University of Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Georgia Chalvatzaki","raw_affiliation_strings":["Technische Universität Darmstadt (Germany)"],"affiliations":[{"raw_affiliation_string":"Technische Universität Darmstadt (Germany)","institution_ids":["https://openalex.org/I31512782"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5067156748"],"corresponding_institution_ids":["https://openalex.org/I31512782"],"apc_list":null,"apc_paid":null,"fwci":15.8985,"has_fulltext":false,"cited_by_count":85,"citation_normalized_percentile":{"value":0.99519377,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"5923","last_page":"5930"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9951000213623047,"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"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9904999732971191,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7554498910903931},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.7258678674697876},{"id":"https://openalex.org/keywords/smoothness","display_name":"Smoothness","score":0.5871099233627319},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5785716772079468},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.569656252861023},{"id":"https://openalex.org/keywords/generative-model","display_name":"Generative model","score":0.4982013702392578},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.47418412566185},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.42758065462112427},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.41922855377197266},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4159720838069916},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.34176379442214966},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.32400453090667725},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.1951029896736145},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.15399417281150818},{"id":"https://openalex.org/keywords/generative-grammar","display_name":"Generative grammar","score":0.1539694368839264},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.07679274678230286}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7554498910903931},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.7258678674697876},{"id":"https://openalex.org/C102634674","wikidata":"https://www.wikidata.org/wiki/Q868473","display_name":"Smoothness","level":2,"score":0.5871099233627319},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5785716772079468},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.569656252861023},{"id":"https://openalex.org/C167966045","wikidata":"https://www.wikidata.org/wiki/Q5532625","display_name":"Generative model","level":3,"score":0.4982013702392578},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.47418412566185},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.42758065462112427},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.41922855377197266},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4159720838069916},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.34176379442214966},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.32400453090667725},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.1951029896736145},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.15399417281150818},{"id":"https://openalex.org/C39890363","wikidata":"https://www.wikidata.org/wiki/Q36108","display_name":"Generative grammar","level":2,"score":0.1539694368839264},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.07679274678230286},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48891.2023.10161569","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10161569","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/14","display_name":"Life below water","score":0.5}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":90,"referenced_works":["https://openalex.org/W131069610","https://openalex.org/W212119337","https://openalex.org/W1929231709","https://openalex.org/W1990470929","https://openalex.org/W1995201049","https://openalex.org/W2013035813","https://openalex.org/W2019965290","https://openalex.org/W2023106861","https://openalex.org/W2094342172","https://openalex.org/W2099893201","https://openalex.org/W2116341587","https://openalex.org/W2135319191","https://openalex.org/W2142224528","https://openalex.org/W2168278516","https://openalex.org/W2290104316","https://openalex.org/W2571233111","https://openalex.org/W2600030077","https://openalex.org/W2785678896","https://openalex.org/W2799151646","https://openalex.org/W2804821933","https://openalex.org/W2805114031","https://openalex.org/W2889969363","https://openalex.org/W2954040150","https://openalex.org/W2959300817","https://openalex.org/W2962722175","https://openalex.org/W2962737955","https://openalex.org/W2963627347","https://openalex.org/W2964201867","https://openalex.org/W2967068439","https://openalex.org/W2980699636","https://openalex.org/W2986303149","https://openalex.org/W3023978817","https://openalex.org/W3040653306","https://openalex.org/W3045696934","https://openalex.org/W3090814639","https://openalex.org/W3105013723","https://openalex.org/W3110257065","https://openalex.org/W3119280808","https://openalex.org/W3132689247","https://openalex.org/W3174273518","https://openalex.org/W3175388581","https://openalex.org/W3179565202","https://openalex.org/W3194622054","https://openalex.org/W3194808041","https://openalex.org/W3205684050","https://openalex.org/W3206683563","https://openalex.org/W3207187156","https://openalex.org/W3213974477","https://openalex.org/W4226052194","https://openalex.org/W4226254615","https://openalex.org/W4281398962","https://openalex.org/W4285102336","https://openalex.org/W4286224728","https://openalex.org/W4289145348","https://openalex.org/W4291960900","https://openalex.org/W4293327156","https://openalex.org/W4298725717","https://openalex.org/W4310430604","https://openalex.org/W4313011305","https://openalex.org/W4317539807","https://openalex.org/W4367721889","https://openalex.org/W4383108224","https://openalex.org/W4383108499","https://openalex.org/W4394671432","https://openalex.org/W6605295560","https://openalex.org/W6687484953","https://openalex.org/W6696380822","https://openalex.org/W6731971823","https://openalex.org/W6732249622","https://openalex.org/W6748582592","https://openalex.org/W6750186571","https://openalex.org/W6751877747","https://openalex.org/W6756279856","https://openalex.org/W6765775151","https://openalex.org/W6767643796","https://openalex.org/W6778946027","https://openalex.org/W6781560674","https://openalex.org/W6786375611","https://openalex.org/W6788517137","https://openalex.org/W6800004206","https://openalex.org/W6810161201","https://openalex.org/W6810802740","https://openalex.org/W6838483015","https://openalex.org/W6840335140","https://openalex.org/W6841549819","https://openalex.org/W6843939211","https://openalex.org/W6846063629","https://openalex.org/W6846325356","https://openalex.org/W6846467201","https://openalex.org/W6847081674"],"related_works":["https://openalex.org/W2163296013","https://openalex.org/W165915117","https://openalex.org/W2326995835","https://openalex.org/W2743859443","https://openalex.org/W2059402478","https://openalex.org/W2123347777","https://openalex.org/W4387804363","https://openalex.org/W4288282832","https://openalex.org/W2956331735","https://openalex.org/W2963244934"],"abstract_inverted_index":{"Multi-objective":[0],"optimization":[1,9,131,164],"problems":[2],"are":[3,184],"ubiquitous":[4],"in":[5,166],"robotics,":[6],"e.g.,":[7,34],"the":[8,35,75,143,158],"of":[10,19,37,146,161,169],"a":[11,16,38,52,97,123,167],"robot":[12],"manipulation":[13,174],"task":[14],"requires":[15],"joint":[17,25,103,127],"consideration":[18],"grasp":[20,128,136],"pose":[21],"configurations,":[22],"collisions":[23],"and":[24,70,129,155,171,181],"limits.":[26],"While":[27],"some":[28],"demands":[29],"can":[30,65],"be":[31,45],"easily":[32],"hand-designed,":[33],"smoothness":[36],"trajectory,":[39],"several":[40],"task-specific":[41],"objectives":[42],"need":[43],"to":[44,79,122,134],"learned":[46],"from":[47,138],"data.":[48],"This":[49],"work":[50],"introduces":[51],"method":[53],"for":[54,117,126],"learning":[55,113],"data-driven":[56],"SE(3)":[57,114,148],"cost":[58],"functions":[59],"as":[60,86],"diffusion":[61,87,115,149],"models.":[62],"Diffusion":[63],"models":[64,88,116,150],"represent":[66],"highly-expressive":[67],"multimodal":[68],"distributions":[69],"exhibit":[71],"proper":[72],"gradients":[73],"over":[74],"entire":[76],"space":[77],"due":[78],"their":[80,90],"score-matching":[81],"training":[82],"objective.":[83],"Learning":[84],"costs":[85,95],"allows":[89],"seamless":[91],"integration":[92],"with":[93],"other":[94],"into":[96],"single":[98],"differentiable":[99],"objective":[100],"function,":[101],"enabling":[102],"gradient-based":[104],"motion":[105,130],"optimization.":[106],"In":[107],"this":[108],"work,":[109],"we":[110,156],"focus":[111],"on":[112],"6DoF":[118],"grasping,":[119],"giving":[120],"rise":[121],"novel":[124],"framework":[125,165],"without":[132],"needing":[133],"decouple":[135],"selection":[137],"trajectory":[139],"generation.":[140],"We":[141],"evaluate":[142],"representation":[144],"power":[145],"our":[147,162],"w.r.t.":[151],"classical":[152],"generative":[153],"models,":[154],"showcase":[157],"superior":[159],"performance":[160],"proposed":[163],"series":[168],"simulated":[170],"real-world":[172],"robotic":[173],"tasks":[175],"against":[176],"representative":[177],"baselines.":[178],"Videos,":[179],"code":[180],"additional":[182],"details":[183],"available":[185],"at:":[186],"https://sites.google.com/view/se3dif":[187]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":43},{"year":2024,"cited_by_count":33},{"year":2023,"cited_by_count":5}],"updated_date":"2026-03-09T08:58:05.943551","created_date":"2025-10-10T00:00:00"}