When: Thursday, 30th of July, 1:00pm AEST
Where: This seminar will be presented at the ACFR seminar area, J04, Level 2 (Rose St Building) and partially online via Zoom. RSVP
Title: Structured Diffusion for Robot Control
Speaker: Raghav Mishra
Abstract:
Diffusion models have demonstrated strong performance as imitation policies and motion planners in robot learning. However, diffusion models generally involve hours of training black box neural networks from expert data. In this talk, I’ll discuss our recent work on imposing structure on diffusion by viewing it as a modular plug-and-play architecture that can incorporate diverse target distribution specifications, sources of refinement, and inference-time modifications. We show how to enforce constraints on diffusion planners, perform imitation learning in milliseconds without any training, and perform inference-time neural diffusion policy editing.
Bio:
Raghav is a PhD researcher in robot control and planning at the Australian Centre for Robotics supervised by Prof. Ian Manchester. He received a Bachelors and Masters in Mechatronic Engineering at the University of Queensland in 2021. He is a part of the ARIAM Hub and is currently working with Reach Robotics, an industry partner, on underwater mobile manipulation.