dgdm-robot.github.io

dgdm-robot.github.io is a live website hosted on Fastly, Inc. (AS54113) in the United States, served by Github.com. cl0q first saw it on 2026-06-26 and last crawled it on 2026-07-04. It resolves to 185.199.108.153.

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Dynamics-Guided Diffusion Model for Sensor-less Robot Manipulator Design

We present Dynamics-Guided Diffusion Model (DGDM), a data-driven framework for generating task-specific manipulator designs without task-specific training. Given object shapes and task specifications, DGDM generates sensor-less manipulator designs that can blindly manipulate objects towards desired motions and poses using an open-loop parallel motion. This framework 1) flexibly represents manipulation tasks as interaction profiles, 2) represents the design space using a geometric diffusion model, and 3) efficiently searches this design space using the gradients provided by a dynamics network trained without any task information. We evaluate DGDM on various manipulation tasks ranging from shifting/rotating objects to converging objects to a specific pose. Our generated designs outperform optimization-based and unguided diffusion baselines relatively by 31.5% and 45.3% on average success rate. With the ability to generate a new design within 0.8s, DGDM facilitates rapid design iteration …