GASP: GPU-Accelerated Safe Planner for Real-Time Collision-Aware Motion Generation with Latent Trajectory Sampling

arXiv:2608.04612v1 Announce Type: new Abstract: We present GASP, a GPU-Accelerated Safe Planner for real-time, collision-aware joint-space motion generation in known environments. GASP combines a clamped B-spline trajectory parameterization with a convolutional residual neural network that predicts