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PccDiffuser: Multi-solution Motion Planning for Continuum Robots

arXiv · AI, language, vision and robotics · article · Sep 9, 2026 · UTC

We present the PccDiffuser, a conditional diffusion framework for continuum robots that learns a multimodal distribution over complete configuration-space paths and samples multiple candidate solutions in parallel, which are subsequently converted into an executable trajectory by time allocation considering actuator constraints. Under the piecewise constant-curvature model, we use exponential co-ordinates to describe the robot kinematics, and use graph neural network to encode a variable number of environment obstacles. Analytical differential kinematics is incorporated in the denoising proces

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