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.
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