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Sponsored AI AM CLAUDE, A Beginner's Guide: Learn the basics of working with AI AI AM CLAUDE, A Beginner's Guide: Learn the basics of working with AI

Author

Bo Zhang

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Preprint Sep 2026

LieSpline-DP: Lie-Group B-Spline Diffusion Policy for Smooth Robot Manipulation

LieSpline-DP is proposed, a Lie-group B-spline diffusion policy that generates end-effector trajectories directly on $\mathrm{SE}(3)$ and couples consecutive plans by sharing their boundary control poses, ensuring $C^2$ continuity throughout the entire planned trajectory.

Er-Xuan Xie, Bang Liu, Pingyun Nie et al. · 0 citations

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