{"id":"https://openalex.org/W4413925278","doi":"https://doi.org/10.1109/icra55743.2025.11128192","title":"Implicit Contact Diffuser: Sequential Contact Reasoning With Latent Point Cloud Diffusion","display_name":"Implicit Contact Diffuser: Sequential Contact Reasoning With Latent Point Cloud Diffusion","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413925278","doi":"https://doi.org/10.1109/icra55743.2025.11128192"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11128192","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128192","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/A5018120068","display_name":"Zixuan Huang","orcid":"https://orcid.org/0009-0004-6497-8988"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan\u2013Ann Arbor","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Zixuan Huang","raw_affiliation_strings":["University of Michigan,Ann Arbor"],"affiliations":[{"raw_affiliation_string":"University of Michigan,Ann Arbor","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114608756","display_name":"Yinong He","orcid":null},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan\u2013Ann Arbor","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yinong He","raw_affiliation_strings":["University of Michigan,Ann Arbor"],"affiliations":[{"raw_affiliation_string":"University of Michigan,Ann Arbor","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103178506","display_name":"Yating Lin","orcid":"https://orcid.org/0000-0002-0631-9122"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan\u2013Ann Arbor","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yating Lin","raw_affiliation_strings":["University of Michigan,Ann Arbor"],"affiliations":[{"raw_affiliation_string":"University of Michigan,Ann Arbor","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083082888","display_name":"Dmitry Berenson","orcid":"https://orcid.org/0000-0002-9712-109X"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan\u2013Ann Arbor","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dmitry Berenson","raw_affiliation_strings":["University of Michigan,Ann Arbor"],"affiliations":[{"raw_affiliation_string":"University of Michigan,Ann Arbor","institution_ids":["https://openalex.org/I27837315"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5018120068"],"corresponding_institution_ids":["https://openalex.org/I27837315"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.32023998,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"10846","last_page":"10853"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11799","display_name":"Adhesion, Friction, and Surface Interactions","score":0.9685999751091003,"subfield":{"id":"https://openalex.org/subfields/2211","display_name":"Mechanics of Materials"},"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/T11799","display_name":"Adhesion, Friction, and Surface Interactions","score":0.9685999751091003,"subfield":{"id":"https://openalex.org/subfields/2211","display_name":"Mechanics of Materials"},"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/T10719","display_name":"3D Shape Modeling and Analysis","score":0.9646999835968018,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/T10914","display_name":"Tactile and Sensory Interactions","score":0.9534000158309937,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/diffuser","display_name":"Diffuser (optics)","score":0.7455992102622986},{"id":"https://openalex.org/keywords/diffusion","display_name":"Diffusion","score":0.5940086245536804},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5748029351234436},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4921268820762634},{"id":"https://openalex.org/keywords/cloud-computing","display_name":"Cloud computing","score":0.4920189082622528},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.11481019854545593},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10621321201324463},{"id":"https://openalex.org/keywords/thermodynamics","display_name":"Thermodynamics","score":0.08086982369422913},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.08066484332084656},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0714932382106781}],"concepts":[{"id":"https://openalex.org/C2780565730","wikidata":"https://www.wikidata.org/wiki/Q5275430","display_name":"Diffuser (optics)","level":3,"score":0.7455992102622986},{"id":"https://openalex.org/C69357855","wikidata":"https://www.wikidata.org/wiki/Q163214","display_name":"Diffusion","level":2,"score":0.5940086245536804},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5748029351234436},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4921268820762634},{"id":"https://openalex.org/C79974875","wikidata":"https://www.wikidata.org/wiki/Q483639","display_name":"Cloud computing","level":2,"score":0.4920189082622528},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.11481019854545593},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10621321201324463},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.08086982369422913},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.08066484332084656},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0714932382106781},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C2982854487","wikidata":"https://www.wikidata.org/wiki/Q9128","display_name":"Light source","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11128192","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128192","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":[{"id":"https://openalex.org/G2554158788","display_name":null,"funder_award_id":"N00014-24-1-2036","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"},{"id":"https://openalex.org/G7087751516","display_name":null,"funder_award_id":"IIS-2113401,IIS-2220876","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":33,"referenced_works":["https://openalex.org/W2061232002","https://openalex.org/W2101340954","https://openalex.org/W2158782408","https://openalex.org/W2410617946","https://openalex.org/W2925241625","https://openalex.org/W2963121255","https://openalex.org/W3158545781","https://openalex.org/W3180196270","https://openalex.org/W3184955535","https://openalex.org/W3196603227","https://openalex.org/W3205980937","https://openalex.org/W3206970255","https://openalex.org/W4221167412","https://openalex.org/W4226465778","https://openalex.org/W4229927528","https://openalex.org/W4281765718","https://openalex.org/W4285102336","https://openalex.org/W4312264622","https://openalex.org/W4312282783","https://openalex.org/W4312933868","https://openalex.org/W4367721889","https://openalex.org/W4383108718","https://openalex.org/W4383109043","https://openalex.org/W4383109180","https://openalex.org/W4383172031","https://openalex.org/W4385416139","https://openalex.org/W4386090379","https://openalex.org/W4388739215","https://openalex.org/W4390778533","https://openalex.org/W4393241407","https://openalex.org/W4401414880","https://openalex.org/W4402354045","https://openalex.org/W4403337227"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2067842556","https://openalex.org/W4244478748","https://openalex.org/W3150465815","https://openalex.org/W2360194796","https://openalex.org/W4223488648","https://openalex.org/W4240053032","https://openalex.org/W2134969820"],"abstract_inverted_index":{"Long-horizon":[0],"contact-rich":[1,90,103],"manipulation":[2,91,104],"has":[3],"long":[4],"been":[5],"a":[6,28,33,40,64,122,127],"challenging":[7],"problem,":[8],"as":[9,56,107],"it":[10],"requires":[11],"reasoning":[12],"over":[13],"both":[14],"discrete":[15],"contact":[16,43,124],"modes":[17],"and":[18,48,110],"continuous":[19],"object":[20,47],"motion.":[21],"We":[22],"introduce":[23],"Implicit":[24],"Contact":[25],"Diffuser":[26],"(ICD),":[27],"diffusion-based":[29],"model":[30],"that":[31,38,74,96,118],"generates":[32],"sequence":[34,52],"of":[35,42,70],"neural":[36],"descriptors":[37,77],"specify":[39],"series":[41],"relationships":[44],"between":[45],"the":[46,49,75],"environment.":[50,129],"This":[51],"is":[53,73],"then":[54],"used":[55],"guidance":[57,81],"for":[58,89],"an":[59],"MPC":[60],"method":[61],"to":[62,82,85,126],"accomplish":[63],"given":[65],"task.":[66],"The":[67],"key":[68],"advantage":[69],"this":[71],"approach":[72],"latent":[76],"provide":[78],"more":[79],"taskrelevant":[80],"MPC,":[83],"helping":[84],"avoid":[86],"local":[87],"minima":[88],"tasks.":[92],"Our":[93],"experiments":[94,115],"demonstrate":[95],"ICD":[97,119],"outperforms":[98],"baselines":[99],"on":[100,135],"complex,":[101],"long-horizon,":[102],"tasks,":[105],"such":[106],"cable":[108],"routing":[109],"notebook":[111],"folding.":[112],"Additionally,":[113],"our":[114,136],"also":[116],"indicate":[117],"can":[120,132],"generalize":[121],"target":[123],"relationship":[125],"different":[128],"More":[130],"visualizations":[131],"be":[133],"found":[134],"website":[137],"https://implicit-contact-diffuser.github.io.":[138]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}