TARAD: Task-Aware Robot Affordance-Centric Diffusion Policy Learned From LLM-Generated Demonstrations
2025年10月1日·
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0 min read
Takato Horii
Authors
Site Hu, Takayuki Nagai, Takato Horii
Abstract
We propose a task-aware, robot-affordance-centric diffusion policy. By integrating the notion of affordances into a diffusion model, the proposed method enables more adaptive behavior generation for robot manipulation tasks.
Type
Publication
IEEE Robotics and Automation Letters, 10(10)
Authors
Takato Horii
(he/him)
Associate Professor
Associate Professor at Graduate School of Engineering Science, Osaka University.
Research interests include cognitive developmental robotics, computational modeling
of emotional development, and human-robot interaction.