# SE(3)-DiffusionFields: Learning smooth cost functions for joint grasp and motion optimization through diffusion

> Research article (2023 IEEE International Conference on Robotics and Automation (ICRA), 2023) · cited 88× · AI/ML

**Wikidata**: [openalex:W4383109488](https://www.wikidata.org/wiki/openalex:W4383109488)  
**Source**: https://4ort.xyz/entity/se-3-diffusionfields-learning-smooth-cost-functions-for-joint-grasp-and-motion-optimization-through-diffusion