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A Study of Conditional Diffusion Models for Open-Loop Control under Dry Friction and Stiction
Diffusion models have recently emerged as expressive generative priors for planning and control. This paper studies Action Diffusion, an action-sequence diffusion formulation used as an open-loop proposal distribution for a point-mass system with dry friction and stiction. In this benchmark, motion starts only when the applied input exceeds a static-friction threshold, so effective controls occupy a small and temporally structured subset of the action-sequence space. A compact conditional 1D U-Net generates bounded control sequences conditioned on initial and target states. We compare it with
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Evidence & attribution
- arXiv · AI, language, vision and robotics · 2026-09-01T18:23:56.000Z
First collected: 2026-09-21T06:01:56.170Z. This is not the publication date.