Compositional Diffusion-Based Continuous Constraint SolversDownload PDF

Published: 30 Aug 2023, Last Modified: 27 Oct 2023CoRL 2023 PosterReaders: Everyone
Keywords: Diffusion Models, Constraint Satisfaction Problems, Task and Motion Planning
Abstract: This paper introduces an approach for learning to solve continuous constraint satisfaction problems (CCSP) in robotic reasoning and planning. Previous methods primarily rely on hand-engineering or learning generators for specific constraint types and then rejecting the value assignments when other constraints are violated. By contrast, our model, the compositional diffusion continuous constraint solver (Diffusion-CCSP) derives global solutions to CCSPs by representing them as factor graphs and combining the energies of diffusion models trained to sample for individual constraint types. Diffusion-CCSP exhibits strong generalization to novel combinations of known constraints, and it can be integrated into a task and motion planner to devise long-horizon plans that include actions with both discrete and continuous parameters.
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