Muninn accelerates diffusion trajectory planners up to 4.6x by spending an uncertainty budget to decide when to cache denoiser outputs, preserving performance and certifying bounded deviation from full computation.
Hardware evaluation protocol We execute waypoint-navigation runs per method in a fixed indoor arena
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Muninn: Your Trajectory Diffusion Model But Faster
Muninn accelerates diffusion trajectory planners up to 4.6x by spending an uncertainty budget to decide when to cache denoiser outputs, preserving performance and certifying bounded deviation from full computation.