PRESTO: Fast Motion Planning Using Diffusion Models Based on Key-Configuration Environment Representation

Mingyo Seo, Yoonyoung Cho, Yoonchang Sung, Peter Stone 0001, Yuke Zhu, Beomjoon Kim. PRESTO: Fast Motion Planning Using Diffusion Models Based on Key-Configuration Environment Representation. In IEEE International Conference on Robotics and Automation, ICRA 2025, Atlanta, GA, USA, May 19-23, 2025. pages 10861-10867, IEEE, 2025. [doi]