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jacarvalho / mpd-public

Implementation of Motion Planning Diffusion
MIT License
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Score-Based Model Support #4

Closed jacobchristopher closed 9 months ago

jacobchristopher commented 9 months ago

Hi @jacarvalho,

The current code based includes several score-based model architectures, which were explored in your previous work and to a lesser degree in the paper associated with this code base. Is there intent to provide support for these models as well in this repository? While many of the elements necessary to use these models seem to be included, I have not found all of the referenced utility functions used by these models. Namely, the helper file mpd.models.helpers.marginal_prob is absent from the codebase, which is referenced by ScoreModelBase, and perhaps others that I missed.

Thanks!

jacarvalho commented 9 months ago

Hey, We initially started this project with score-based models but moved to diffusion models since they were easier to train. What you encountered was some code left from the initial experimentation that I forgot to clean it from the repository - I'm sorry for that! So in short, we don't plan to add the support for score-based models.