@article{se3diffusionfieldslearningcostfunctions,
  title = {SE(3)-DiffusionFields: Learning smooth cost functions for joint grasp and motion optimization through diffusion},
  author = {Julen Urain and Niklas Funk and Jan Peters and Georgia Chalvatzaki},
  year = {2022},
  eprint = {2209.03855},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2209.03855v4},
}