Chu-Han Meng

LTLDiff: Finite Linear Temporal Logic-Guided Data Generation and Diffusion Policies for Multi-agent Robotic Manipulation

Multi-agent robotic manipulation tasks require coordination among agents to satisfy task-level temporal, logical, and safety constraints. Recently, diffusion policies have been used to perform the task. However, they still suffer from desynchronization, incorrect action ordering, and coordination failures in tasks that...