most citedDEFA: Efficient Deformable Attention Acceleration via Pruning-Assisted Grid-Sampling and Multi-Scale Parallel Processing

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cs.RO2026

ScaleMPA: Rethinking Scalable RRT* Acceleration With a Grid-Native Representation

Zilong Wang, Yuzhou Chen, Xinyue He +2

Real-time motion planning remains challenging in large and high-dimensional environments. Prior acceleration of RRT* follows tree-centric state organization, which reduces per-quer…