{"id":"https://openalex.org/W4389665935","doi":"https://doi.org/10.1109/iros55552.2023.10342382","title":"Motion Planning Diffusion: Learning and Planning of Robot Motions with Diffusion Models","display_name":"Motion Planning Diffusion: Learning and Planning of Robot Motions with Diffusion Models","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4389665935","doi":"https://doi.org/10.1109/iros55552.2023.10342382"},"language":"en","primary_location":{"id":"doi:10.1109/iros55552.2023.10342382","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10342382","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/A5053233736","display_name":"J. Frederico Carvalho","orcid":"https://orcid.org/0000-0002-8750-0897"},"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":"Jo\u00e3o Carvalho","raw_affiliation_strings":["TU Darmstadt,Intelligent Autonomous Systems Lab,Germany","Intelligent Autonomous Systems Lab, TU Darmstadt, Germany"],"affiliations":[{"raw_affiliation_string":"TU Darmstadt,Intelligent Autonomous Systems Lab,Germany","institution_ids":["https://openalex.org/I31512782"]},{"raw_affiliation_string":"Intelligent Autonomous Systems Lab, TU Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102888876","display_name":"An T. Le","orcid":"https://orcid.org/0000-0003-0929-3316"},"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":"An T. Le","raw_affiliation_strings":["TU Darmstadt,Intelligent Autonomous Systems Lab,Germany","Intelligent Autonomous Systems Lab, TU Darmstadt, Germany"],"affiliations":[{"raw_affiliation_string":"TU Darmstadt,Intelligent Autonomous Systems Lab,Germany","institution_ids":["https://openalex.org/I31512782"]},{"raw_affiliation_string":"Intelligent Autonomous Systems Lab, TU Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032791192","display_name":"Mark Baierl","orcid":null},"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":"Mark Baierl","raw_affiliation_strings":["TU Darmstadt,Intelligent Autonomous Systems Lab,Germany","Intelligent Autonomous Systems Lab, TU Darmstadt, Germany"],"affiliations":[{"raw_affiliation_string":"TU Darmstadt,Intelligent Autonomous Systems Lab,Germany","institution_ids":["https://openalex.org/I31512782"]},{"raw_affiliation_string":"Intelligent Autonomous Systems Lab, TU Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063353075","display_name":"Dorothea Koert","orcid":"https://orcid.org/0000-0002-3571-6848"},"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"]}],"countries":["DE","FR"],"is_corresponding":false,"raw_author_name":"Dorothea Koert","raw_affiliation_strings":["TU Darmstadt,Intelligent Autonomous Systems Lab,Germany","Intelligent Autonomous Systems Lab, TU Darmstadt, Germany","Centre for Cognitive Science"],"affiliations":[{"raw_affiliation_string":"TU Darmstadt,Intelligent Autonomous Systems Lab,Germany","institution_ids":["https://openalex.org/I31512782"]},{"raw_affiliation_string":"Intelligent Autonomous Systems Lab, TU Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]},{"raw_affiliation_string":"Centre for Cognitive Science","institution_ids":["https://openalex.org/I4210122262"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5071367253","display_name":"Jan Peters","orcid":"https://orcid.org/0000-0002-5266-8091"},"institutions":[{"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/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/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":["TU Darmstadt,Intelligent Autonomous Systems Lab,Germany","Hessian.AI","Centre for Cognitive Science","German Research Center for AI (DFKI)","Intelligent Autonomous Systems Lab, TU Darmstadt, Germany"],"affiliations":[{"raw_affiliation_string":"TU Darmstadt,Intelligent Autonomous Systems Lab,Germany","institution_ids":["https://openalex.org/I31512782"]},{"raw_affiliation_string":"Hessian.AI","institution_ids":[]},{"raw_affiliation_string":"Centre for Cognitive Science","institution_ids":["https://openalex.org/I4210122262"]},{"raw_affiliation_string":"German Research Center for AI (DFKI)","institution_ids":["https://openalex.org/I33256026"]},{"raw_affiliation_string":"Intelligent Autonomous Systems Lab, TU Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5053233736"],"corresponding_institution_ids":["https://openalex.org/I31512782"],"apc_list":null,"apc_paid":null,"fwci":11.3331,"has_fulltext":false,"cited_by_count":94,"citation_normalized_percentile":{"value":0.99034954,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"1916","last_page":"1923"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9998000264167786,"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":0.9998000264167786,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9968000054359436,"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":0.9898999929428101,"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/prior-probability","display_name":"Prior probability","score":0.7778530716896057},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6806613802909851},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6687384843826294},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6183267831802368},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.5431668758392334},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4995870590209961},{"id":"https://openalex.org/keywords/generalization","display_name":"Generalization","score":0.4446820616722107},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.41054949164390564},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3581767678260803},{"id":"https://openalex.org/keywords/bayesian-probability","display_name":"Bayesian probability","score":0.3516099750995636},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2609502077102661}],"concepts":[{"id":"https://openalex.org/C177769412","wikidata":"https://www.wikidata.org/wiki/Q278090","display_name":"Prior probability","level":3,"score":0.7778530716896057},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6806613802909851},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6687384843826294},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6183267831802368},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5431668758392334},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4995870590209961},{"id":"https://openalex.org/C177148314","wikidata":"https://www.wikidata.org/wiki/Q170084","display_name":"Generalization","level":2,"score":0.4446820616722107},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.41054949164390564},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3581767678260803},{"id":"https://openalex.org/C107673813","wikidata":"https://www.wikidata.org/wiki/Q812534","display_name":"Bayesian probability","level":2,"score":0.3516099750995636},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2609502077102661},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/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/iros55552.2023.10342382","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10342382","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6399999856948853,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[{"id":"https://openalex.org/G4195929567","display_name":null,"funder_award_id":"2315/11-1","funder_id":"https://openalex.org/F4320320879","funder_display_name":"Deutsche Forschungsgemeinschaft"}],"funders":[{"id":"https://openalex.org/F4320320879","display_name":"Deutsche Forschungsgemeinschaft","ror":"https://ror.org/018mejw64"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":54,"referenced_works":["https://openalex.org/W131069610","https://openalex.org/W1424654272","https://openalex.org/W1499669280","https://openalex.org/W1971086298","https://openalex.org/W1993282304","https://openalex.org/W2019965290","https://openalex.org/W2055201760","https://openalex.org/W2099893201","https://openalex.org/W2107464055","https://openalex.org/W2128990851","https://openalex.org/W2141664020","https://openalex.org/W2295255295","https://openalex.org/W2412669390","https://openalex.org/W2571233111","https://openalex.org/W2617443499","https://openalex.org/W2736887377","https://openalex.org/W2799151646","https://openalex.org/W2890882989","https://openalex.org/W2894417726","https://openalex.org/W2963439114","https://openalex.org/W2967969632","https://openalex.org/W3011646207","https://openalex.org/W3089422924","https://openalex.org/W3101780148","https://openalex.org/W3102334304","https://openalex.org/W3162926177","https://openalex.org/W3165149185","https://openalex.org/W3196304306","https://openalex.org/W4224035735","https://openalex.org/W4287124967","https://openalex.org/W4287644346","https://openalex.org/W4289145348","https://openalex.org/W4298185817","https://openalex.org/W4310430604","https://openalex.org/W4310826288","https://openalex.org/W4312740349","https://openalex.org/W4312933868","https://openalex.org/W4313011305","https://openalex.org/W4383109488","https://openalex.org/W4399469378","https://openalex.org/W6679045638","https://openalex.org/W6687045409","https://openalex.org/W6713989974","https://openalex.org/W6746119731","https://openalex.org/W6756279856","https://openalex.org/W6765775151","https://openalex.org/W6766978945","https://openalex.org/W6768720322","https://openalex.org/W6779823529","https://openalex.org/W6788990321","https://openalex.org/W6795288823","https://openalex.org/W6838483015","https://openalex.org/W6846073415","https://openalex.org/W6847672028"],"related_works":["https://openalex.org/W2580650124","https://openalex.org/W2135187896","https://openalex.org/W2015518264","https://openalex.org/W2562263695","https://openalex.org/W3160546271","https://openalex.org/W2147201983","https://openalex.org/W2795035211","https://openalex.org/W2168271748","https://openalex.org/W2160108762","https://openalex.org/W1718066205"],"abstract_inverted_index":{"Learning":[0],"priors":[1,21,171],"on":[2,35,84],"trajectory":[3,17,61,81,116,175],"distributions":[4,176],"can":[5,75],"help":[6],"accelerate":[7],"robot":[8,139,142,178],"motion":[9,42],"planning":[10,25,43],"optimization.":[11,62],"Given":[12],"previously":[13,160],"successful":[14],"plans,":[15],"learning":[16,68],"generative":[18],"models":[19,70,168],"as":[20,71],"for":[22,49,60,114],"a":[23,57],"new":[24],"problem":[26],"is":[27,111],"highly":[28],"desirable.":[29],"Prior":[30],"works":[31],"propose":[32,67],"several":[33,134],"ways":[34],"utilizing":[36],"this":[37,64],"prior":[38,48,54],"to":[39,102,172],"bootstrapping":[40],"the":[41,47,53,79,89,148],"problem.":[44],"Either":[45],"sampling":[46],"initializations":[50],"or":[51],"using":[52],"distribution":[55,82],"in":[56,107,136,157],"maximum-a-posterior":[58],"formulation":[59],"In":[63],"work,":[65],"we":[66,123,154],"diffusion":[69,94,97,167],"priors.":[72],"We":[73],"then":[74],"sample":[76],"directly":[77],"from":[78],"posterior":[80],"conditioned":[83],"task":[85],"goals,":[86],"by":[87],"leveraging":[88],"inverse":[90],"denoising":[91],"process":[92],"of":[93,151,177],"models.":[95],"Furthermore,":[96],"has":[98],"been":[99],"recently":[100],"shown":[101],"effectively":[103],"encode":[104,173],"data":[105],"multi-modality":[106],"high-dimensional":[108,174],"settings,":[109],"which":[110],"particularly":[112],"well-suited":[113],"large":[115],"dataset.":[117],"To":[118,146],"demonstrate":[119],"our":[120,125,152],"method":[121,127],"efficacy,":[122],"compare":[124],"proposed":[126],"-":[128,132],"Motion":[129],"Planning":[130],"Diffusion":[131],"against":[133],"baselines":[135],"simulated":[137],"planar":[138],"and":[140],"7-dof":[141],"arm":[143],"manipulator":[144],"environments.":[145],"assess":[147],"generalization":[149],"capabilities":[150],"method,":[153],"test":[155],"it":[156],"environments":[158],"with":[159],"unseen":[161],"obstacles.":[162],"Our":[163],"experiments":[164],"show":[165],"that":[166],"are":[169],"strong":[170],"motions.":[179],"https://sites.google.com/view/mp-diffusion":[180]},"counts_by_year":[{"year":2026,"cited_by_count":9},{"year":2025,"cited_by_count":59},{"year":2024,"cited_by_count":25},{"year":2023,"cited_by_count":1}],"updated_date":"2026-03-27T14:29:43.386196","created_date":"2025-10-10T00:00:00"}