{"id":"https://openalex.org/W4413925057","doi":"https://doi.org/10.1109/icra55743.2025.11127413","title":"Cascaded Diffusion Models for Neural Motion Planning","display_name":"Cascaded Diffusion Models for Neural Motion Planning","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413925057","doi":"https://doi.org/10.1109/icra55743.2025.11127413"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11127413","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127413","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5102792137","display_name":"Mohit Sharma","orcid":"https://orcid.org/0000-0002-5680-9111"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Mohit Sharma","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University,Pittsburgh,PA,USA"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University,Pittsburgh,PA,USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073162537","display_name":"Adam Fishman","orcid":"https://orcid.org/0000-0002-8807-3102"},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Adam Fishman","raw_affiliation_strings":["University of Washington,Seattle,WA,USA"],"affiliations":[{"raw_affiliation_string":"University of Washington,Seattle,WA,USA","institution_ids":["https://openalex.org/I201448701"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100383672","display_name":"Vikash Kumar","orcid":"https://orcid.org/0000-0002-3168-7955"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Vikash Kumar","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University,Pittsburgh,PA,USA"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University,Pittsburgh,PA,USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044926286","display_name":"Chris Paxton","orcid":null},"institutions":[{"id":"https://openalex.org/I4210144102","display_name":"Wuhu Hit Robot Technology Research Institute","ror":"https://ror.org/049w4dp92","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210144102"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chris Paxton","raw_affiliation_strings":["Hello Robot Inc,USA"],"affiliations":[{"raw_affiliation_string":"Hello Robot Inc,USA","institution_ids":["https://openalex.org/I4210144102"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5005091065","display_name":"Oliver Kroemer","orcid":"https://orcid.org/0000-0003-2007-3867"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Oliver Kroemer","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University,Pittsburgh,PA,USA"],"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University,Pittsburgh,PA,USA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5102792137"],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":1.4282,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.85805132,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"14361","last_page":"14368"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11206","display_name":"Model Reduction and Neural Networks","score":0.9096999764442444,"subfield":{"id":"https://openalex.org/subfields/3109","display_name":"Statistical and Nonlinear Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11206","display_name":"Model Reduction and Neural Networks","score":0.9096999764442444,"subfield":{"id":"https://openalex.org/subfields/3109","display_name":"Statistical and Nonlinear Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6298319697380066},{"id":"https://openalex.org/keywords/diffusion","display_name":"Diffusion","score":0.589617133140564},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5656821131706238},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.43058687448501587},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.41491252183914185},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4105875790119171},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12966957688331604},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.1071796715259552}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6298319697380066},{"id":"https://openalex.org/C69357855","wikidata":"https://www.wikidata.org/wiki/Q163214","display_name":"Diffusion","level":2,"score":0.589617133140564},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5656821131706238},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.43058687448501587},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.41491252183914185},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4105875790119171},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12966957688331604},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.1071796715259552},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11127413","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11127413","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W1140243306","https://openalex.org/W1424654272","https://openalex.org/W1622225657","https://openalex.org/W1814533834","https://openalex.org/W1901129140","https://openalex.org/W2000359213","https://openalex.org/W2019965290","https://openalex.org/W2099893201","https://openalex.org/W2110762409","https://openalex.org/W2128990851","https://openalex.org/W2141664020","https://openalex.org/W2142224528","https://openalex.org/W2963439114","https://openalex.org/W2963572779","https://openalex.org/W2967969632","https://openalex.org/W3006249771","https://openalex.org/W3021208093","https://openalex.org/W3173991492","https://openalex.org/W3200832869","https://openalex.org/W3202846827","https://openalex.org/W3207460231","https://openalex.org/W4285102333","https://openalex.org/W4312891162","https://openalex.org/W4312933868","https://openalex.org/W4383109488","https://openalex.org/W4383172031","https://openalex.org/W4385245566","https://openalex.org/W4385403813","https://openalex.org/W4385430497","https://openalex.org/W4387350600","https://openalex.org/W4389665935","https://openalex.org/W4390873054","https://openalex.org/W4401414880","https://openalex.org/W4403337227"],"related_works":["https://openalex.org/W3049557657","https://openalex.org/W3150915502","https://openalex.org/W2111158727","https://openalex.org/W1809059965","https://openalex.org/W2024668666","https://openalex.org/W2155287816","https://openalex.org/W2391251536","https://openalex.org/W2132826624","https://openalex.org/W4281385974","https://openalex.org/W1990568201"],"abstract_inverted_index":{"Robots":[0],"in":[1,12,43,141],"the":[2,55,83,98,120],"real":[3],"world":[4],"need":[5],"to":[6,10,85,118],"perceive":[7],"and":[8,27,35,92,110,146],"move":[9],"goals":[11,29],"complex":[13,90],"environments":[14],"without":[15],"collisions.":[16],"Avoiding":[17],"collisions":[18],"is":[19],"especially":[20],"difficult":[21],"when":[22,28],"relying":[23],"on":[24,138],"sensor":[25],"perception":[26],"are":[30,122],"among":[31],"clutter.":[32],"Diffusion":[33],"policies":[34],"other":[36],"generative":[37],"models":[38,105],"have":[39],"shown":[40],"strong":[41],"performance":[42],"solving":[44],"local":[45,111],"planning":[46,65,78],"problems,":[47],"but":[48],"often":[49],"struggle":[50],"at":[51],"avoiding":[52],"all":[53],"of":[54,136],"subtle":[56],"constraint":[57],"violations":[58],"that":[59],"characterize":[60],"truly":[61],"challenging":[62,139],"global":[63,76,108],"motion":[64,77],"problems.":[66],"In":[67],"this":[68],"work,":[69],"we":[70],"propose":[71],"an":[72],"approach":[73,101],"for":[74],"learning":[75],"using":[79],"diffusion":[80],"policies,":[81],"allowing":[82],"robot":[84],"generate":[86],"full":[87],"trajectories":[88,121],"through":[89],"scenes":[91],"reasoning":[93],"about":[94],"multiple":[95,142],"obstacles":[96],"along":[97],"path.":[99],"Our":[100,125],"uses":[102],"cascaded":[103],"hierarchical":[104],"which":[106],"unify":[107],"prediction":[109],"refinement":[112],"together":[113],"with":[114],"online":[115],"plan":[116],"repair":[117],"ensure":[119],"collision":[123],"free.":[124],"method":[126],"outperforms":[127],"(<tex":[128],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[129],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">$\\approx":[130],"5":[131],"\\%$</tex>)":[132],"a":[133],"wide":[134],"variety":[135],"baselines":[137],"tasks":[140],"domains":[143],"including":[144],"navigation":[145],"manipulation.":[147]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}