@article{diffusionfsmultimodalfreespaceprediction,
  title = {Diffusion-FS: Multimodal Free-Space Prediction via Diffusion for Autonomous Driving},
  author = {Keshav Gupta and Tejas S. Stanley and Pranjal Paul and Arun K. Singh and K. Madhava Krishna},
  year = {2025},
  eprint = {2507.18763},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2507.18763},
}