Xiaoming Duan

BridgeFlow: Fast and Robust SE(2)-Equivariant Motion Planning with Flow Matching

Xinzhe Zhou, Xuyang Wang, Xiaoming Duan, Jianping He

In robotic motion planning, equivariance to rigid body transformations is crucial for robust spatial generalization. However, current learning-based planners face a critical dilemma: they either lack inherent equivariance, treating transformed tasks as novel scenarios, or enforce…Read more