{"id":"https://openalex.org/W7161598158","doi":"https://doi.org/10.48550/arxiv.2605.15352","title":"Diffusion Policy for Coordinated Control of a Nonholonomic Mobile Base and Dual Arms in Door Opening and Passing","display_name":"Diffusion Policy for Coordinated Control of a Nonholonomic Mobile Base and Dual Arms in Door Opening and Passing","publication_year":2026,"publication_date":"2026-05-14","ids":{"openalex":"https://openalex.org/W7161598158","doi":"https://doi.org/10.48550/arxiv.2605.15352"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.15352","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.15352","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2605.15352","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5078117619","display_name":"Shangqun Yu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yu, Shangqun","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136433633","display_name":"Matthew En","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"En, Matthew","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136372510","display_name":"Daniel Wu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wu, Daniel","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136384094","display_name":"Sangjun Park","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Park, Sangjun","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136452390","display_name":"Ziyi Zhou","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhou, Ziyi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5136407961","display_name":"Seyed Fakoorian","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Fakoorian, Seyed","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5136430230","display_name":"Donghyun Kim","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kim, Donghyun","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.796500027179718,"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":0.796500027179718,"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/T10982","display_name":"Motor Control and Adaptation","score":0.1023000031709671,"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"}},{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.01899999938905239,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.652999997138977},{"id":"https://openalex.org/keywords/traverse","display_name":"Traverse","score":0.5630999803543091},{"id":"https://openalex.org/keywords/nonholonomic-system","display_name":"Nonholonomic system","score":0.5199999809265137},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.5085999965667725},{"id":"https://openalex.org/keywords/doors","display_name":"Doors","score":0.49129998683929443},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4869000017642975},{"id":"https://openalex.org/keywords/heading","display_name":"Heading (navigation)","score":0.478300005197525},{"id":"https://openalex.org/keywords/base","display_name":"Base (topology)","score":0.42419999837875366},{"id":"https://openalex.org/keywords/hourglass","display_name":"Hourglass","score":0.42410001158714294}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.652999997138977},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6194999814033508},{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.5630999803543091},{"id":"https://openalex.org/C138632511","wikidata":"https://www.wikidata.org/wiki/Q2478109","display_name":"Nonholonomic system","level":4,"score":0.5199999809265137},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.5085999965667725},{"id":"https://openalex.org/C125209513","wikidata":"https://www.wikidata.org/wiki/Q4037520","display_name":"Doors","level":2,"score":0.49129998683929443},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4869000017642975},{"id":"https://openalex.org/C2776937971","wikidata":"https://www.wikidata.org/wiki/Q4384217","display_name":"Heading (navigation)","level":2,"score":0.478300005197525},{"id":"https://openalex.org/C42058472","wikidata":"https://www.wikidata.org/wiki/Q810214","display_name":"Base (topology)","level":2,"score":0.42419999837875366},{"id":"https://openalex.org/C127532173","wikidata":"https://www.wikidata.org/wiki/Q179904","display_name":"Hourglass","level":2,"score":0.42410001158714294},{"id":"https://openalex.org/C2778112365","wikidata":"https://www.wikidata.org/wiki/Q3511065","display_name":"Sequence (biology)","level":2,"score":0.41940000653266907},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4185999929904938},{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.40540000796318054},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.31929999589920044},{"id":"https://openalex.org/C2777742833","wikidata":"https://www.wikidata.org/wiki/Q1964083","display_name":"Reciprocal","level":2,"score":0.31540000438690186},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.314300000667572},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.31040000915527344},{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.30790001153945923},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.30709999799728394},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.2987000048160553},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.2906999886035919},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.288100004196167},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.28360000252723694},{"id":"https://openalex.org/C174348530","wikidata":"https://www.wikidata.org/wiki/Q188635","display_name":"Bridging (networking)","level":2,"score":0.2687999904155731},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.26820001006126404},{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.2529999911785126},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.251800000667572},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.25029999017715454}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.15352","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.15352","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2605.15352","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.15352","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Opening":[0],"heavy,":[1],"self":[2],"closing":[3],"doors,":[4],"especially":[5],"those":[6],"that":[7,75,173,221],"require":[8],"pulling":[9,82],"remains":[10],"a":[11,23,49,53,125,139,164,174,201],"long":[12,54,185],"standing":[13],"challenge":[14],"in":[15,22,121,205],"robotics.":[16],"Humans":[17],"naturally":[18],"employ":[19],"both":[20],"arms":[21,36,144],"dexterous":[24],"manner,":[25],"rotating":[26],"the":[27,30,33,67,84,90,109,146],"handle,":[28],"widening":[29],"gap,":[31],"holding":[32],"door,":[34],"switching":[35],"when":[37],"needed,":[38],"and":[39,61,142,150,193,207],"moving":[40],"through":[41],"while":[42],"maintaining":[43],"clearance.":[44],"To":[45],"replicate":[46],"such":[47],"behaviors,":[48],"robot":[50],"must":[51],"perform":[52],"sequence":[55],"of":[56,66,111,138],"motions":[57],"spanning":[58],"multiple":[59],"stages":[60,80],"interactions":[62],"with":[63,226],"different":[64],"parts":[65],"door.":[68],"Traditional":[69],"approaches":[70],"rely":[71],"on":[72],"state":[73],"machines":[74],"transition":[76],"between":[77,191],"manually":[78],"defined":[79],"(e.g.,":[81],"after":[83,89],"knob":[85],"is":[86,92],"rotated,":[87],"passing":[88,151],"gap":[91],"sufficiently":[93],"wide).":[94],"While":[95],"intuitive,":[96],"these":[97],"methods":[98],"lack":[99],"robustness,":[100],"as":[101],"hand":[102],"crafted":[103],"trajectories":[104],"fail":[105],"to":[106,108,177,183,217,224],"generalize":[107],"diversity":[110],"real":[112],"world":[113],"conditions":[114],"without":[115],"extensive":[116],"engineering":[117],"effort.":[118],"Recent":[119],"advances":[120],"imitation":[122],"learning":[123],"offer":[124],"scalable":[126],"alternative,":[127],"yet":[128],"no":[129],"existing":[130],"visual":[131],"action":[132],"model":[133],"has":[134],"demonstrated":[135],"simultaneous":[136],"coordination":[137,190],"nonholonomic":[140],"base":[141],"dual":[143],"for":[145],"complete":[147],"door":[148],"opening":[149,206],"task.":[152],"In":[153],"this":[154,158],"paper,":[155],"we":[156],"tackle":[157],"complex,":[159],"highly":[160],"constrained":[161],"problem":[162],"using":[163],"diffusion":[165],"based":[166],"visuomotor":[167],"control":[168],"policy.":[169],"Our":[170],"results":[171],"demonstrate":[172],"single":[175],"end":[176,178],"policy":[179,197],"can":[180],"be":[181],"learned":[182],"execute":[184],"horizon":[186],"tasks":[187],"requiring":[188],"tight":[189],"manipulation":[192],"locomotion.":[194],"The":[195],"resulting":[196],"not":[198],"only":[199],"achieves":[200],"high":[202],"success":[203],"rate":[204],"traversing":[208],"damped":[209],"pull":[210],"doors":[211],"but":[212],"also":[213],"demonstrates":[214],"strong":[215],"robustness":[216],"external":[218],"disturbances":[219],"capabilities":[220],"are":[222],"difficult":[223],"realize":[225],"traditional":[227],"methods.":[228]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-05-19T00:00:00"}