{"id":"https://openalex.org/W4413244282","doi":"https://doi.org/10.1145/3747864","title":"Diffusion-based Planning with Learned Viability Filters 62","display_name":"Diffusion-based Planning with Learned Viability Filters 62","publication_year":2025,"publication_date":"2025-08-08","ids":{"openalex":"https://openalex.org/W4413244282","doi":"https://doi.org/10.1145/3747864"},"language":"en","primary_location":{"id":"doi:10.1145/3747864","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3747864","pdf_url":null,"source":{"id":"https://openalex.org/S4210220973","display_name":"Proceedings of the ACM on Computer Graphics and Interactive Techniques","issn_l":"2577-6193","issn":["2577-6193"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the ACM on Computer Graphics and Interactive Techniques","raw_type":"journal-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/A5058983574","display_name":"N. Ioannidis","orcid":null},"institutions":[{"id":"https://openalex.org/I141945490","display_name":"University of British Columbia","ror":"https://ror.org/03rmrcq20","country_code":"CA","type":"education","lineage":["https://openalex.org/I141945490"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Nicholas Ioannidis","raw_affiliation_strings":["Computer Science","University of British Columbia"],"raw_orcid":"https://orcid.org/0009-0009-4172-6151","affiliations":[{"raw_affiliation_string":"Computer Science","institution_ids":[]},{"raw_affiliation_string":"University of British Columbia","institution_ids":["https://openalex.org/I141945490"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053770584","display_name":"Daniele Reda","orcid":"https://orcid.org/0000-0002-7101-0519"},"institutions":[{"id":"https://openalex.org/I4210100487","display_name":"3v Geomatics (Canada)","ror":"https://ror.org/00ymz7s10","country_code":"CA","type":"company","lineage":["https://openalex.org/I4210100487"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Daniele Reda","raw_affiliation_strings":["Wayve","Wayve, Vancouver, Canada"],"raw_orcid":"https://orcid.org/0000-0002-7101-0519","affiliations":[{"raw_affiliation_string":"Wayve","institution_ids":[]},{"raw_affiliation_string":"Wayve, Vancouver, Canada","institution_ids":["https://openalex.org/I4210100487"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5098748861","display_name":"Setareh Cohan","orcid":null},"institutions":[{"id":"https://openalex.org/I141945490","display_name":"University of British Columbia","ror":"https://ror.org/03rmrcq20","country_code":"CA","type":"education","lineage":["https://openalex.org/I141945490"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Setareh Cohan","raw_affiliation_strings":["Computer Science","University of British Columbia"],"raw_orcid":"https://orcid.org/0009-0008-6381-7698","affiliations":[{"raw_affiliation_string":"Computer Science","institution_ids":[]},{"raw_affiliation_string":"University of British Columbia","institution_ids":["https://openalex.org/I141945490"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5052748246","display_name":"Michiel van de Panne","orcid":"https://orcid.org/0000-0002-9123-3672"},"institutions":[{"id":"https://openalex.org/I141945490","display_name":"University of British Columbia","ror":"https://ror.org/03rmrcq20","country_code":"CA","type":"education","lineage":["https://openalex.org/I141945490"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Michiel van de Panne","raw_affiliation_strings":["Computer Science","University of British Columbia"],"raw_orcid":"https://orcid.org/0000-0002-9123-3672","affiliations":[{"raw_affiliation_string":"Computer Science","institution_ids":[]},{"raw_affiliation_string":"University of British Columbia","institution_ids":["https://openalex.org/I141945490"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5058983574"],"corresponding_institution_ids":["https://openalex.org/I141945490"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.23756831,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"8","issue":"4","first_page":"1","last_page":"23"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12290","display_name":"Human Motion and Animation","score":0.9979000091552734,"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/T12290","display_name":"Human Motion and Animation","score":0.9979000091552734,"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/T10812","display_name":"Human Pose and Action Recognition","score":0.9965000152587891,"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/T11574","display_name":"Artificial Intelligence in Games","score":0.9646999835968018,"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":0.6443511843681335},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.6122105121612549},{"id":"https://openalex.org/keywords/plan","display_name":"Plan (archaeology)","score":0.5963883996009827},{"id":"https://openalex.org/keywords/sample","display_name":"Sample (material)","score":0.590178906917572},{"id":"https://openalex.org/keywords/diffusion","display_name":"Diffusion","score":0.5440170168876648},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.5262571573257446},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"Obstacle avoidance","score":0.4722910523414612},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.4463565945625305},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.35331904888153076},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.34599319100379944},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.31549394130706787},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20269784331321716},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.08362901210784912}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6443511843681335},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.6122105121612549},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.5963883996009827},{"id":"https://openalex.org/C198531522","wikidata":"https://www.wikidata.org/wiki/Q485146","display_name":"Sample (material)","level":2,"score":0.590178906917572},{"id":"https://openalex.org/C69357855","wikidata":"https://www.wikidata.org/wiki/Q163214","display_name":"Diffusion","level":2,"score":0.5440170168876648},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.5262571573257446},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.4722910523414612},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.4463565945625305},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.35331904888153076},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.34599319100379944},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.31549394130706787},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20269784331321716},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.08362901210784912},{"id":"https://openalex.org/C166957645","wikidata":"https://www.wikidata.org/wiki/Q23498","display_name":"Archaeology","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C95457728","wikidata":"https://www.wikidata.org/wiki/Q309","display_name":"History","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C43617362","wikidata":"https://www.wikidata.org/wiki/Q170050","display_name":"Chromatography","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/3747864","is_oa":false,"landing_page_url":"https://doi.org/10.1145/3747864","pdf_url":null,"source":{"id":"https://openalex.org/S4210220973","display_name":"Proceedings of the ACM on Computer Graphics and Interactive Techniques","issn_l":"2577-6193","issn":["2577-6193"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319798","host_organization_name":"Association for Computing Machinery","host_organization_lineage":["https://openalex.org/P4310319798"],"host_organization_lineage_names":["Association for Computing Machinery"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the ACM on Computer Graphics and Interactive Techniques","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.5600000023841858,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W569478347","https://openalex.org/W2111237478","https://openalex.org/W2160741803","https://openalex.org/W2194775991","https://openalex.org/W2410617946","https://openalex.org/W2739330054","https://openalex.org/W3150718622","https://openalex.org/W3205566932","https://openalex.org/W4205999401","https://openalex.org/W4206497039","https://openalex.org/W4233840023","https://openalex.org/W4245376853","https://openalex.org/W4312497550","https://openalex.org/W4312933868","https://openalex.org/W4383108499","https://openalex.org/W4385403811","https://openalex.org/W4385527149","https://openalex.org/W4386066131","https://openalex.org/W4388868804","https://openalex.org/W4388895019","https://openalex.org/W4390874263","https://openalex.org/W4392182143","https://openalex.org/W4404965663","https://openalex.org/W4406890425"],"related_works":["https://openalex.org/W2930076404","https://openalex.org/W4253519380","https://openalex.org/W2381278952","https://openalex.org/W2071957557","https://openalex.org/W2596413128","https://openalex.org/W4391249562","https://openalex.org/W2356867392","https://openalex.org/W2782776446","https://openalex.org/W3043170174","https://openalex.org/W2155948905"],"abstract_inverted_index":{"Physics-based":[0],"characters":[1],"need":[2],"to":[3,21,96,136],"plan":[4],"their":[5],"movements":[6],"over-and-around":[7],"obstacles.":[8],"Diffusion":[9],"models":[10],"offer":[11],"a":[12,18,24,73,137],"possible":[13,29],"solution,":[14],"as":[15],"they":[16,32],"allow":[17],"motion":[19],"planner":[20],"sample":[22],"from":[23],"potentially":[25],"diverse":[26],"distribution":[27],"of":[28,72,119,139],"futures.":[30],"However,":[31],"may":[33,41],"also":[34,90],"generate":[35],"flawed":[36],"plans":[37],"because":[38],"some":[39],"samples":[40],"not":[42],"satisfy":[43],"hard":[44],"constraints":[45,100],"that":[46,65,152],"exist":[47],"only":[48],"implicitly":[49],"in":[50,123],"the":[51,69,105,117,120],"training":[52],"data,":[53],"e.g.,":[54],"guaranteeing":[55],"balance":[56],"or":[57],"obstacle":[58,132],"clearance.":[59],"We":[60,103,134],"propose":[61],"learned":[62],"viability":[63,87,121,154],"filters":[64,88,122,155],"can":[66,89],"efficiently":[67],"predict":[68],"future":[70],"success":[71],"given":[74],"plan,":[75],"i.e.,":[76],"diffusion":[77,161],"sample,":[78],"and":[79,131,146,149],"thereby":[80],"enforce":[81],"an":[82],"implicit":[83],"future-success":[84],"constraint.":[85],"Multiple":[86],"be":[91],"composed":[92],"together":[93],"at":[94],"run-time":[95],"take":[97],"multiple":[98],"potential":[99],"into":[101],"consideration.":[102],"demonstrate":[104],"approach":[106],"on":[107],"detailed":[108],"footstep":[109],"planning":[110,126,141],"for":[111,127],"3D":[112],"human":[113],"locomotion":[114],"tasks,":[115],"showing":[116],"effectiveness":[118],"performing":[124],"online":[125],"box-climbing,":[128],"step-over":[129],"walls,":[130],"avoidance.":[133],"compare":[135],"number":[138],"alternative":[140],"methods":[142],"including":[143],"reinforcement":[144],"learning":[145],"return-conditioned":[147],"diffusion,":[148],"further":[150],"show":[151],"using":[153],"is":[156],"significantly":[157],"faster":[158],"than":[159],"guidance-based":[160],"prediction.":[162]},"counts_by_year":[],"updated_date":"2025-12-22T23:10:17.713674","created_date":"2025-10-10T00:00:00"}
