Guided diffusion over Bernstein polynomial coefficients generates smooth, collision-free manipulator trajectories with fewer denoising steps than waypoint-space diffusion.
Shelving, stacking, hanging: Relational pose diffusion for multi- modal rearrangement,
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GPD: Guided Polynomial Diffusion for Motion Planning
Guided diffusion over Bernstein polynomial coefficients generates smooth, collision-free manipulator trajectories with fewer denoising steps than waypoint-space diffusion.