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LeCAR-Lab / model-based-diffusion

Official implementation for the paper "Model-based Diffusion for Trajectory Optimization". Model-based diffusion (MBD) is a novel diffusion-based trajectory optimization framework that employs a dynamics model to run the reverse denoising process to generate high-quality trajectories.
https://lecar-lab.github.io/mbd/
Apache License 2.0
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No self-collision in dynamics function? #3

Closed liyitang22 closed 1 month ago

liyitang22 commented 1 month ago

when running humanoidstandup task, it can generate some weird sequence like:

Uploading standup.mp4…

It looks like there is no self-collision in dynamics function?

liyitang22 commented 1 month ago

https://github.com/user-attachments/assets/d27d5b2f-4de9-454a-94a0-921c668ae727

jc-bao commented 1 month ago

that's right. we ported it from brax and seems like they disable self-collision for the sake of speed. Feel free to add it back!