{"id":"https://openalex.org/W7133308757","doi":"https://doi.org/10.48550/arxiv.2603.00936","title":"DRIFT: Diffusion-based Rule-Inferred For Trajectories","display_name":"DRIFT: Diffusion-based Rule-Inferred For Trajectories","publication_year":2026,"publication_date":"2026-03-01","ids":{"openalex":"https://openalex.org/W7133308757","doi":"https://doi.org/10.48550/arxiv.2603.00936"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2603.00936","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.00936","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2603.00936","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5127911551","display_name":"Jinyang Zhao","orcid":null},"institutions":[{"id":"https://openalex.org/I16365422","display_name":"Hefei University of Technology","ror":"https://ror.org/02czkny70","country_code":"CN","type":"education","lineage":["https://openalex.org/I16365422"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zhao, Jinyang","raw_affiliation_strings":["Hefei University of Technology, Hefei, China"],"affiliations":[{"raw_affiliation_string":"Hefei University of Technology, Hefei, China","institution_ids":["https://openalex.org/I16365422"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5127969331","display_name":"Handong Zheng","orcid":null},"institutions":[{"id":"https://openalex.org/I16365422","display_name":"Hefei University of Technology","ror":"https://ror.org/02czkny70","country_code":"CN","type":"education","lineage":["https://openalex.org/I16365422"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zheng, Handong","raw_affiliation_strings":["Hefei University of Technology, Hefei, China"],"affiliations":[{"raw_affiliation_string":"Hefei University of Technology, Hefei, China","institution_ids":["https://openalex.org/I16365422"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111286952","display_name":"Yanjiu Zhong","orcid":null},"institutions":[{"id":"https://openalex.org/I16365422","display_name":"Hefei University of Technology","ror":"https://ror.org/02czkny70","country_code":"CN","type":"education","lineage":["https://openalex.org/I16365422"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhong, Yanjiu","raw_affiliation_strings":["Hefei University of Technology, Hefei, China"],"affiliations":[{"raw_affiliation_string":"Hefei University of Technology, Hefei, China","institution_ids":["https://openalex.org/I16365422"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5127956176","display_name":"Qiang Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I16365422","display_name":"Hefei University of Technology","ror":"https://ror.org/02czkny70","country_code":"CN","type":"education","lineage":["https://openalex.org/I16365422"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhang, Qiang","raw_affiliation_strings":["Hefei University of Technology, Hefei, China"],"affiliations":[{"raw_affiliation_string":"Hefei University of Technology, Hefei, China","institution_ids":["https://openalex.org/I16365422"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5127913933","display_name":"Yu Kang","orcid":null},"institutions":[{"id":"https://openalex.org/I16365422","display_name":"Hefei University of Technology","ror":"https://ror.org/02czkny70","country_code":"CN","type":"education","lineage":["https://openalex.org/I16365422"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kang, Yu","raw_affiliation_strings":["Hefei University of Technology, Hefei, China"],"affiliations":[{"raw_affiliation_string":"Hefei University of Technology, Hefei, China","institution_ids":["https://openalex.org/I16365422"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5087893108","display_name":"Shunyu Wu","orcid":"https://orcid.org/0000-0001-9856-2148"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wu, Shunyu","raw_affiliation_strings":["Shanghai Jiao Tong University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5127911551"],"corresponding_institution_ids":["https://openalex.org/I16365422"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.7477999925613403,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.7477999925613403,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.10199999809265137,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.026599999517202377,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/smoothness","display_name":"Smoothness","score":0.6833000183105469},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6607999801635742},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.45980000495910645},{"id":"https://openalex.org/keywords/executable","display_name":"Executable","score":0.44359999895095825},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.4140999913215637},{"id":"https://openalex.org/keywords/generative-model","display_name":"Generative model","score":0.4083000123500824},{"id":"https://openalex.org/keywords/fidelity","display_name":"Fidelity","score":0.40380001068115234},{"id":"https://openalex.org/keywords/generator","display_name":"Generator (circuit theory)","score":0.3797000050544739},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.3736000061035156},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.3702000081539154}],"concepts":[{"id":"https://openalex.org/C102634674","wikidata":"https://www.wikidata.org/wiki/Q868473","display_name":"Smoothness","level":2,"score":0.6833000183105469},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6607999801635742},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6462000012397766},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.45980000495910645},{"id":"https://openalex.org/C160145156","wikidata":"https://www.wikidata.org/wiki/Q778586","display_name":"Executable","level":2,"score":0.44359999895095825},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.43149998784065247},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.4140999913215637},{"id":"https://openalex.org/C167966045","wikidata":"https://www.wikidata.org/wiki/Q5532625","display_name":"Generative model","level":3,"score":0.4083000123500824},{"id":"https://openalex.org/C2776459999","wikidata":"https://www.wikidata.org/wiki/Q2119376","display_name":"Fidelity","level":2,"score":0.40380001068115234},{"id":"https://openalex.org/C2780992000","wikidata":"https://www.wikidata.org/wiki/Q17016113","display_name":"Generator (circuit theory)","level":3,"score":0.3797000050544739},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.3736000061035156},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.3702000081539154},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.36340001225471497},{"id":"https://openalex.org/C39890363","wikidata":"https://www.wikidata.org/wiki/Q36108","display_name":"Generative grammar","level":2,"score":0.353300005197525},{"id":"https://openalex.org/C62354387","wikidata":"https://www.wikidata.org/wiki/Q875399","display_name":"Boundary (topology)","level":2,"score":0.3447999954223633},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.3325999975204468},{"id":"https://openalex.org/C126388530","wikidata":"https://www.wikidata.org/wiki/Q1131737","display_name":"Imitation","level":2,"score":0.3188000023365021},{"id":"https://openalex.org/C153083717","wikidata":"https://www.wikidata.org/wiki/Q6535263","display_name":"Leverage (statistics)","level":2,"score":0.3158000111579895},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.31139999628067017},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.3107999861240387},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3021000027656555},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3001999855041504},{"id":"https://openalex.org/C22367795","wikidata":"https://www.wikidata.org/wiki/Q7625208","display_name":"Structured prediction","level":2,"score":0.2946999967098236},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.29440000653266907},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.2858999967575073},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.2833000123500824},{"id":"https://openalex.org/C75291252","wikidata":"https://www.wikidata.org/wiki/Q1315756","display_name":"TRACE (psycholinguistics)","level":2,"score":0.28049999475479126},{"id":"https://openalex.org/C41608201","wikidata":"https://www.wikidata.org/wiki/Q980509","display_name":"Embedding","level":2,"score":0.2653000056743622},{"id":"https://openalex.org/C125209513","wikidata":"https://www.wikidata.org/wiki/Q4037520","display_name":"Doors","level":2,"score":0.26330000162124634},{"id":"https://openalex.org/C2779664074","wikidata":"https://www.wikidata.org/wiki/Q3518405","display_name":"Terminal (telecommunication)","level":2,"score":0.2605000138282776},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.25870001316070557},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.2565999925136566},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.25529998540878296},{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.2533999979496002},{"id":"https://openalex.org/C168031717","wikidata":"https://www.wikidata.org/wiki/Q1530280","display_name":"Balance (ability)","level":2,"score":0.2517000138759613}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2603.00936","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.00936","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2603.00936","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.00936","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Trajectory":[0],"generation":[1],"for":[2,15,21,55,115,149],"mobile":[3],"robots":[4],"in":[5],"unstructured":[6],"environments":[7],"faces":[8],"a":[9,57,74,80,96,102],"critical":[10],"dilemma:":[11],"balancing":[12],"kinematic":[13],"smoothness":[14,139],"safe":[16],"execution":[17],"with":[18,29],"terminal":[19],"precision":[20],"fine-grained":[22],"tasks.":[23],"Existing":[24],"generative":[25],"planners":[26],"often":[27],"struggle":[28],"this":[30,49],"trade-off,":[31],"yielding":[32],"either":[33],"smooth":[34],"but":[35,41],"imprecise":[36],"paths":[37],"or":[38],"geometrically":[39],"accurate":[40],"erratic":[42],"motions.":[43],"To":[44],"address":[45],"the":[46,120],"aforementioned":[47],"shortcomings,":[48],"article":[50],"proposes":[51],"DRIFT":[52,126],"(Diffusion-based":[53],"Rule-Inferred":[54],"Trajectories),":[56],"conditional":[58],"diffusion":[59],"framework":[60],"designed":[61],"to":[62,91,110],"generate":[63],"high-fidelity":[64],"reference":[65,147],"trajectories":[66],"by":[67],"integrating":[68],"two":[69],"complementary":[70],"inductive":[71],"biases.":[72],"First,":[73],"Relational":[75],"Inductive":[76],"Bias,":[77,99],"realized":[78],"via":[79],"GNN-based":[81],"Structured":[82],"Scene":[83],"Perception":[84],"(SSP)":[85],"module,":[86],"encodes":[87],"global":[88],"topological":[89],"constraints":[90],"ensure":[92],"holistic":[93],"smoothness.":[94],"Second,":[95],"Temporal":[97],"Attention":[98],"implemented":[100],"through":[101],"novel":[103],"Graph-Conditioned":[104],"Time-Aware":[105],"GRU":[106],"(GTGRU),":[107],"dynamically":[108],"attends":[109],"sparse":[111],"obstacles":[112],"and":[113,137],"targets":[114],"precise":[116],"local":[117],"maneuvering.":[118],"In":[119],"end,":[121],"quantitative":[122],"results":[123],"demonstrate":[124],"that":[125],"reconciles":[127],"these":[128],"conflicting":[129],"objectives,":[130],"achieving":[131],"centimeter-level":[132],"imitation":[133],"fidelity":[134],"(0.041m":[135],"FDE)":[136],"competitive":[138],"(27.19":[140],"Jerk).":[141],"This":[142],"balance":[143],"yields":[144],"highly":[145],"executable":[146],"plans":[148],"downstream":[150],"control.":[151]},"counts_by_year":[],"updated_date":"2026-03-04T07:09:34.246503","created_date":"2026-03-04T00:00:00"}
