Sindhu Sankar

Diffusion-Guided Trajectory Priors for Efficient Robotic Manipulator Motion Planning in Dynamic Environments

A hierarchical conditional diffusion framework is proposed for structured joint-space trajectory generation, which is conditioned on start and goal positions, static workspace geometry, and dynamic obstacle motions, and achieves 93.5% planning success versus 82.5% for the best learning-based baseline, Hierarchical Diff...