Akule: Fast and Scalable Multi-Robot Motion Planning via Sparse Interaction Diffusion
Diffusion models provide expressive trajectory priors for multi-robot motion planning (MRMP), but scaling them to large teams requires coordinating individual motions without expensive joint computation. We introduce Akule, a sparse interaction diffusion framework that augments a frozen single-robot prior with three le...
Manav Vora, Gokul Puthumanaillam, Aditya Penumarti et al.
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