From 98ce4f22d30cf1f989acb1cf3439c5d524c73d22 Mon Sep 17 00:00:00 2001 From: shaoanlu Date: Tue, 11 Jun 2024 02:37:59 +0900 Subject: [PATCH] Update README.md --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index c1eeb7e..bb1ccac 100644 --- a/README.md +++ b/README.md @@ -1,5 +1,5 @@ # diffusion_policy_quadrotor -This repository provides a demonstration of imitation learning using a diffusion policy. The implementation is adapted from the official Diffusion Policy [repository](https://github.com/real-stanford/diffusion_policy). +This repository provides a demonstration of imitation learning using a diffusion policy on quadrotor control. The implementation is adapted from the official Diffusion Policy [repository](https://github.com/real-stanford/diffusion_policy) with an additional feature of using CBf-CLF controller to improve the safety of the generated trajectory. ## Result The control task is to drive the quadrotor from the initial position (0, 0) to the goal position (5, 5) without collision with the obstacles. The animation shows the denoising process of the diffusion policy predicting future trajectory followed by the quadrotor applying the actions.