AINeutralarXiv – CS AI · 10h ago6/10
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THREAD: Trajectory Planning for Hybrid Rigid-Soft Manipulators with Environment-Aware Diffusion
Researchers introduce THREAD, a diffusion-based trajectory planning system for hybrid rigid-soft manipulators that can navigate through confined spaces by learning physics-aware backbone trajectories. The system achieves 92.4% task success in simulations and demonstrates real-world cross-embodiment transfer, successfully threading through apertures significantly smaller than the soft segment diameter.