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Zinuo Chang

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Preprint Jul 2026

Function-Space Diffusion for Motion Planning

This work proposes Function-Space Diffusion for Motion Planning (FSD-MP), a diffusion-based motion planner that models trajectories as continuous functions and performs diffusion directly in function space, achieving discretization-invariant trajectory generation.

Zinuo Chang, Yipu Chen, Byoungwoo Park et al. · 0 citations