GPD: Guided Polynomial Diffusion for Motion Planning

We present GPD, a guided polynomial diffusion framework for robot motion planning. By parameterizing trajectories with polynomial basis functions within a diffusion model, GPD produces smooth, dynamically feasible paths with improved guidance controllability.

Authors: Ajit Srikanth, Parth Mahajan, Kallol Saha*, Vishal Mandadi*, Pranjal Paul, Pawan Wadhwani, Brojeshwar Bhowmick, Arun Singh, Madhava Krishna

(* equal contribution)