RobotDiffuse: Motion Planning for Redundant Manipulator based on Diffusion Model

Redundant manipulators, with their higher Degrees of Freedom (DOFs), offer enhanced kinematic performance and versatility, making them suitable for applications like manufacturing, surgical robotics, and human-robot collaboration. However, motion planning for these manipulators is challenging due to increased DOFs and complex, dynamic environments. While traditional motion planning algorithms struggle with high-dimensional spaces, deep learning-based methods often face instability and inefficiency in complex tasks. This paper introduces RobotDiffuse, a diffusion model-based approach for motion planning in redundant manipulators. By integrating physical constraints with a point cloud encoder and replacing the U-Net structure with an encoder-only transformer, RobotDiffuse improves the model's ability to capture temporal dependencies and generate smoother, more coherent motion plans. We validate the approach using a complex simulator, and release a new dataset with 35M robot poses and 0.14M obstacle avoidance scenarios. Experimental results demonstrate the effectiveness of RobotDiffuse and the promise of diffusion models for motion planning tasks. The code can be accessed at https://github.com/ACRoboT-buaa/RobotDiffuse.

TFCNs: A CNN-Transformer Hybrid Network for Medical Image Segmentation

Medical image segmentation is one of the most fundamental tasks concerning medical information analysis. Various solutions have been proposed so far, including many deep learning-based techniques, such as U-Net, FC-DenseNet, etc. However, high-precision medical image segmentation remains a highly challenging task due to the existence of inherent magnification and distortion in medical images as well as the presence of lesions with similar density to normal tissues. In this paper, we propose TFCNs (Transformers for Fully Convolutional denseNets) to tackle the problem by introducing ResLinear-Transformer (RL-Transformer) and Convolutional Linear Attention Block (CLAB) to FC-DenseNet. TFCNs is not only able to utilize more latent information from the CT images for feature extraction, but also can capture and disseminate semantic features and filter non-semantic features more effectively through the CLAB module. Our experimental results show that TFCNs can achieve state-of-the-art performance with dice scores of 83.72\% on the Synapse dataset. In addition, we evaluate the robustness of TFCNs for lesion area effects on the COVID-19 public datasets. The Python code will be made publicly available on https://github.com/HUANGLIZI/TFCNs.