arxivcs.RO2026-07-03
Function-Space Diffusion for Motion Planning
Zinuo Chang, Yipu Chen, Byoungwoo Park, Hongzhe Yu, Yongxin Chen
Diffusion-based motion planners have demonstrated strong performance in generating diverse and high-quality robot trajectories in cluttered environments with multiple feasible solutions. However, existing approaches typically operate on fixed-length waypoint sequences, making the…