Diffusion-based Planning with Learned Viability Filters 62
Bibliographic record
Abstract
Physics-based characters need to plan their movements over-and-around obstacles. Diffusion models offer a possible solution, as they allow a motion planner to sample from a potentially diverse distribution of possible futures. However, they may also generate flawed plans because some samples may not satisfy hard constraints that exist only implicitly in the training data, e.g., guaranteeing balance or obstacle clearance. We propose learned viability filters that can efficiently predict the future success of a given plan, i.e., diffusion sample, and thereby enforce an implicit future-success constraint. Multiple viability filters can also be composed together at run-time to take multiple potential constraints into consideration. We demonstrate the approach on detailed footstep planning for 3D human locomotion tasks, showing the effectiveness of the viability filters in performing online planning for box-climbing, step-over walls, and obstacle avoidance. We compare to a number of alternative planning methods including reinforcement learning and return-conditioned diffusion, and further show that using viability filters is significantly faster than guidance-based diffusion prediction.
Fetched live from OpenAlex and de-inverted. Abstracts are not stored in this database: the inverted indexes are 8.6 GB of the frame’s 9.3 GB of text, and the host has 13 GB free.
How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.001 | 0.004 |
| Meta-epidemiology (narrow) | 0.001 | 0.001 |
| Meta-epidemiology (broad) | 0.001 | 0.000 |
| Bibliometrics | 0.001 | 0.000 |
| Science and technology studies | 0.000 | 0.001 |
| Scholarly communication | 0.001 | 0.001 |
| Open science | 0.001 | 0.001 |
| Research integrity | 0.001 | 0.001 |
| Insufficient payload (model declined to judge) | 0.002 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one source (direct Gemma or distilled Codex), not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".