Diffusion Planning

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8 papers in the last four weeks, up 167% on the four weeks before. 0.1% of all new papers.

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  1. P3: Persistent Particle Planning for Constrained Diffusion Control

    Oct 5, 2026Hikmet Simsir, Mahyar Fardinfar, Ozgur S. OguzDiffusion Planning

    Department of Computer Engineering, Bilkent University

  2. Training-Free Diffusion Planning with Analytical Local Scores

    Oct 1, 2026Michael Y. Fatemi, Jinhao Liang, Ferdinando FiorettoDiffusion PlanningTrajectory Generation

    University of Virginia

  3. Learning to Explain While Planning: Rule-Aligned Diffusion Planning for Autonomous Driving

    Sep 30, 2026Jiaxi Ye, Chunji Lv, Guoren Wang +1Diffusion PlanningHuman Driving

    Beijing Institute of Technology

  4. Efficient Multi-Modal Planning with Reward-Guided Preference Optimization for Autonomous Driving

    Sep 30, 2026Chenglin Chen, Lujia Wang, Xinhu Zheng +2Causality-Aware End-To-End Autonomous DrivingAutonomous Driving

  5. Trajectory-Level Mode Guidance for Controllable Diffusion-Based Multi-Robot Motion Planning

    Sep 29, 2026Tianyou Yu, Shengze Cai, Chao XuDiffusion PlanningMulti-Robot Motion Planning

    Institute of Cyber-System and Control, College of Control Science and Engineering, Zhejiang University, Hangzhou 310027, China

  6. Diffusion Subgoal Planning for Long-Horizon Offline Goal-Conditioned Reinforcement Learning

    Sep 28, 2026Hengrui Zhang, Yuhu Cheng, C. L. Philip Chen +1Goal-Conditioned Reinforcement LearningHigh-Level Subgoal Generation

    School of Information and Control Engineering, China University of Mining and Technology · School of Computer Science and Engineering, South China University of Technology

  7. S2Planner: Multi-Scale Semantic Planner for End-to-End Autonomous Driving

    Sep 24, 2026Zhaowei Lu, Liguo Zhou, Yujie Guo +2Autonomous DrivingAutonomous Navigation

    Chair of Robotics, Artificial Intelligence and Real-time Systems, Technical University of Munich, Garching, Germany · Computer Science and Technology School, Huaibei Normal University, Huaibei, China

  8. FlockDiffusion: Assignment-Conditioned Diffusion for Multi-Drone Task Allocation and Completion

    Sep 20, 2026Iana Zhura, Satenik Akopyan, Roohan Ahmed Khan +3Multi-Drone CoordinationDiffusion Planning

    Skolkovo Institute of Science and Technology, Moscow, Russia

  9. SmellDiffusion: Diffusion-Based Quadruped Navigation with Olfactory Scene Graphs

    Sep 17, 2026Faith Ogunwoye, Iana Zhura, Hajira Amjad +5Diffusion PlanningSmells

    Skolkovo Institute of Science and Technology, Moscow, Russia

  10. OccPlanner: Goal-Aware Occupancy-Conditioned Diffusion Planner for PixelGoal Navigation

    Aug 14, 2026Binling Huang, Nianjin Ye, Xi Yang +6Diffusion Planning3D Semantic Occupancy Prediction

    Changhong Intelligent Robot University of Electronic Science and Technology of China

  11. Top-down Traffic Scenario Generation via Joint Initial-Goal Diffusion and Trajectory Infilling

    Aug 11, 2026Da Saem Lee, Yash Vardhan Pant, Sebastian FischmeisterMicroscopic Traffic SimulationsScenario Generation

    Department of Electrical and Computer Engineering, University of Waterloo, Waterloo, Canada

  12. Graph-Guided Safe Diffuser: Topological Graph Guidance for Safe Diffusion Planning

    Aug 10, 2026Nakgyu Yang, KwangBin Lee, SooJean HanDiffusion PlanningPhysics-Guided Diffusion

    School of Electrical Engineering, Korea Advanced Institute of Science and Technology (KAIST) Daejeon, Republic of Korea

  13. Adaptive-WAM: Quality-Guided Early-Exit Planning from Intermediate Video-Diffusion Features

    Aug 6, 2026Sining Ang, Yuguang Yang, Yan WangDiffusion PlanningWorld Model Planning

    Institute for AI Industry Research (AIR), Tsinghua University · Department of Automation, University of Science and Technology of China · School of Electronic Information Engineering, Beihang University

  14. Learning Adaptive Safety Margins for Visual Navigation

    Jul 20, 2026Junyi Hu, Shuaihang Yuan, Geeta Chandra Raju Bethala +2Diffusion PlanningCollision-Free Trajectories

    New York University Abu Dhabi, UAE.

  15. DRIFT: Drift and Aggregation for Motion Planning

    Jul 16, 2026Yining Xing, Zhiyuan Liu, Zehong Ke +2Diffusion PlanningMotion Planning

    School of Vehicle and Mobility, Tsinghua University, Beijing, China · State Key Laboratory of Intelligent Green Vehicle and Mobility, Tsinghua University, Beijing, China

  16. Model-Based Diffusion Optimal Control for Multi-Robot Motion Planning

    Jul 14, 2026Zhilin He, Yorai Shaoul, Jiaoyang LiMulti-Robot Motion PlanningDiffusion Planning

    1Carnegie Mellon University, Pittsburgh, PA, USA

  17. D-SafeMPC: Diffusion-Driven Safe Model Predictive Control with Discrete-Time Control Barrier Functions

    Jul 12, 2026Erdi Sayar, Ersin Daş, Joel W. Burdick +2Model Predictive ControlDiffusion Planning

    Department of Electrical Engineering and Information Technology, Paderborn University, 33098 Paderborn, Germany · Department of Mechanical, Materials, and Aerospace Engineering, Illinois Institute of Technology, Chicago, IL 60616, USA · Mechanical and Civil Engineering, California Institute of Technology, Pasadena, CA 91125, USA +1

  18. Shortcut Trajectory Planning for Efficient Offline Reinforcement Learning

    Jul 10, 2026Guanquan Wang, Yoshimasa TsuruokaDiffusion PlanningModel-Based Reinforcement Learning

    Department of Information and Communication Engineering · The University of Tokyo

  19. Function-Space Diffusion for Motion Planning

    Jul 3, 2026Zinuo Chang, Yipu Chen, Byoungwoo Park +2Diffusion PlanningMotion Planning

    School of Electrical and Computer Engineering · School of Aerospace Engineering, Georgia Institute of Technology, Atlanta, GA · Korea Advanced Institute of Science and Technology, Daejeon, Republic of Korea

  20. Off the Rails: Hijacking the Scoring Head in Generative End-to-End Driving Planners with Safety-Violating Adversarial Perturbations

    Jun 29, 2026Halima Bouzidi, Mboutidem Ekemini Mkpong, Haoyu Liu +1Causality-Aware End-To-End Autonomous DrivingAutonomous Driving

    University of California, Irvine, CA, USA

  21. Proposal-Conditioned Latent Diffusion for Closed-Loop Traffic Scenario Generation

    Jun 25, 2026Shubham Vaijanath Phoolari, Aleyna Kara, Christoph Lauer +1Scenario GenerationDiffusion Planning

    Authors are with CARIAD SE, Germany. · Author is with the Institute of Automotive Engineering (FZD), TU Darmstadt, Germany. · Author is with the Technical University of Munich, Germany.

  22. G2DP: Diffusion Planning with Spatio-Temporal Grid Guidance

    Jun 24, 2026Hang Yu, Ye Jin, Alessandro Canevaro +7Diffusion PlanningCausality-Aware End-To-End Autonomous Driving

    Mercedes-Benz AG, Germany · TU Munich, Germany · University of Tübingen, Germany +1

  23. UniTeD: Unified Temporal Diffusion for Joint Perception and Planning in Autonomous Driving

    Jun 24, 2026Bo Zhao, Xinting Zhao, Naifan Li +2Diffusion PlanningAutonomous Driving

    Nullmax · Westlake University

  24. Energy-based Compositional Diffusion Planning

    Jun 19, 2026Tao Sun, Utkarsh Aashu Mishra, Jiaxin Lu +2Diffusion PlanningPlanning

    Stanford University, California, USA · Georgia Institute of Technology, Georgia, USA · University of Texas at Austin, Texas, USA

  25. VOiLA: Vectorized Online Planning with Learned Diffusion Models for POMDP Agents

    Jun 18, 2026Marcus Hoerger, Rishikesh Joshi, Rahul Shome +2Partially Observable Markov Decision ProcessDiffusion Planning

    Australian National University, Canberra, ACT, Australia · The University of Sydney, Sydney, NSW, Australia

  26. Generative-Model Predictive Planning for Navigation in Partially Observable Environments

    Jun 17, 2026Thomas Quilter, Yifan Zhu, Guorui Quan +2Diffusion PlanningPartially Observable Markov Decision Process

    Department of Computer Science Aalto University Espoo, Finland

  27. DIFF-IPPO: Diffusion-Based Informative Path Planning with Open-Vocabulary Belief Maps

    Jun 15, 2026Sausar Karaf, Oleg Sautenkov, Mikhail Martynov +1Diffusion PlanningPath Planning

    CDE, Skoltech, Bolshoy Boulevard, 30, bld. 1, Moscow 121205, Russia

  28. JPPD: Joint Prediction_Planning Diffusion with Differentiable Safety Guidance for Dynamic Obstacle Avoidance in Intelligent Transportation Systems

    Jun 14, 2026Jiahao Wu, Shengwen YuDiffusion PlanningRobot Trajectories

    Department of Engineering, Mechanical Engineering, The University of Hong Kong, Hong Kong

  29. DiRecT: Safe Diffusion-Based Planning via Receding-Horizon Denoising

    Jun 13, 2026Paolo Giaretta, Zeyang Li, Navid AzizanDiffusion PlanningDiffusion Sampling

    MIT

  30. Guided Diffusion with Distilled Vision-Language Reliability for Aerial Navigation

    Jun 11, 2026Ivan Valuev, Iana Zhura, Valerii Serpiva +2Aerial Vision-Language NavigationDiffusion Planning

  31. Diffusion Forcing Planner: History-Annealed Planning with Time-Dependent Guidance for Autonomous Driving

    Jun 9, 2026Zehan Zhang, Neng Zhang, Yaoyi Li +2Diffusion PlanningAutonomous Driving Simulation

    University of Science and Technology of China · 3Hefei Institutes of Physical Science, Chinese Academy of Sciences · 2Yinwang Intelligent Technology Co., Ltd

  32. ChronoForest: Closed-Loop Multi-Tree Diffusion Planning for Efficient Bridge Search and Route Composition

    Jun 4, 2026Jungmin Seo, Jaesik ParkDiffusion PlanningLong-Horizon Planning

    Seoul National University Seoul, South Korea

  33. D3^3-MoE:Dual Disentangled Diffusion Mixture-of-Experts for Style-Controllable End-to-End Autonomous Driving

    Jun 3, 2026Renju Feng, Rukang Wang, Ning Xi +4Causality-Aware End-To-End Autonomous DrivingAutonomous Driving

  34. AgenticDiffusion: Multi-View Reasoning with View-Conditioned Diffusion Planning for Vision-Based UAV Navigation

    Jun 2, 2026Faryal Batool, Muhammad Ahsan Mustafa, Fawad Mehboob +2Aerial Vision-Language NavigationDiffusion Planning

  35. Bridging Predictive Uncertainty and Safe Action: Sample-Conditioned Differentiable Planning for Autonomous Driving

    Jun 2, 2026Chengzhen Meng, Pei Liu, Zhiyu Huang +2Diffusion PlanningAutonomous Driving

    Robotics and Autonomous Systems Thrust, The Hong Kong University of Science and Technology, Guangzhou, China, and also the Department of Electronic and Computer Engineering, The Hong Kong University of Science and Technology, Hong Kong SAR, China · Department of Civil and Environmental Engineering, University of California, Los Angeles, CA 90095 USA · School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore 639798

  36. Generative Multi-Robot Motion Planning via Diffusion Modeling with Multi-Agent Reinforcement Learning Guidance

    May 30, 2026Suk Ki Lee, Venkata Sai Deepak Mutta, Hyunwoong KoMulti-Robot Motion PlanningDiffusion Planning

    School of Manufacturing Systems and Networks, Arizona State University, Mesa, AZ · Michael W. Hall School of Mechanical Engineering, Mississippi State University, Starkville, MS

  37. Coarse-to-Fine Compositional Diffusion for Long-Horizon Planning

    May 30, 2026Byoungwoo Park, Utkarsh A. Mishra, Jaemoo Choi +2Diffusion PlanningDiffusion Models

    KAIST

  38. Plan First, Diffuse Later: Extrinsic Graph Guidance for Long-Horizon Diffusion Planning

    May 16, 2026Yaniv Hassidof, Adir Morgan, Yilun Du +1Diffusion PlanningLong-Horizon Planning

    Technion · Harvard

  39. Discrete Diffusion for Complex and Congested Multi-Agent Path Finding with Sparse Social Attention

    May 13, 2026Yuanzhe Wang, Tian Zhi, Zihang Wei +8Multi-Agent Path FindingDiffusion Planning

    State Key Lab of Processors, Institute of Computing Technology, CAS · School of Advanced Interdisciplinary Sciences, CAS · University of Chinese Academy of Sciences +1

  40. CoWorld-VLA: Thinking in a Multi-Expert World Model for Autonomous Driving

    May 11, 2026Minqing Huang, Yujiao Xiang, Zihan Liang +7Autonomous DrivingAction Generation

    Afari Intelligent Drive · University of Electronic Science and Technology of China · Shanghai Jiao Tong University +2

  41. Muninn: Your Trajectory Diffusion Model But Faster

    May 11, 2026Gokul Puthumanaillam, Hao Jiang, Ruben Hernandez +4Diffusion PlanningTrajectory Generation

    University of Illinois Urbana-Champaign. · Florida International University. · Providence College.

  42. ReflectDrive-2: Reinforcement-Learning-Aligned Self-Editing for Discrete Diffusion Driving

    May 6, 2026Huimin Wang, Yue Wang, Bihao Cui +7Autonomous DrivingLong Refinement Trajectories

    LiAuto

  43. HDFlow: Hierarchical Diffusion-Flow Planning for Long-horizon Tasks

    May 6, 2026Nandiraju Gireesh, Yuanliang Ju, Chaoyi Xu +3Diffusion PlanningClassical Planning

    1Peking University · University of Toronto. · 2Galbot

  44. Refining Compositional Diffusion for Reliable Long-Horizon Planning

    May 4, 2026Kyowoon Lee, Yunhao Luo, Anh Tong +1Diffusion PlanningLong-Horizon Planning

    KAIST · University of Michigan · Korea University +1

  45. Guiding Vector Field Generation via Score-based Diffusion Model

    Apr 27, 2026Zirui Chen, Shiliang Guo, Shiyu ZhaoVector FieldsDiffusion Planning

    College of Computer Science and Technology, Zhejiang University, Hangzhou, China. · WINDY Lab, Department of Artificial Intelligence, Westlake University, Hangzhou, China.

  46. MISTY: High-Throughput Motion Planning via Mixer-based Single-step Drifting

    Apr 23, 2026Yining Xing, Zehong Ke, Yiqian Tu +3Diffusion PlanningPlanning

    School of Vehicle and Mobility, Tsinghua University, Beijing, China · State Key Laboratory of Intelligent Green Vehicle and Mobility, Tsinghua University, Beijing, China

  47. Safer Trajectory Planning with CBF-guided Diffusion Model for Unmanned Aerial Vehicles

    Apr 19, 2026Peiwen Yang, Shiyu Bai, Weisong Wen +2Diffusion PlanningUnmanned Aerial Vehicle Trajectories

    Department of Aeronautical and Aviation Engineering, The Hong Kong Polytechnic University, Hong Kong

  48. RAD-2: Scaling Reinforcement Learning in a Generator-Discriminator Framework

    Apr 16, 2026Hao Gao, Shaoyu Chen, Yifan Zhu +4Diffusion PlanningAutonomous Driving

    Huazhong University of Science & Technology · Horizon Robotics

  49. PC-Diffuser: Path-Consistent Capsule CBF Safety Filtering for Diffusion-Based Trajectory Planner

    Mar 11, 2026Eugene Ku, Yiwei LyuDiffusion PlanningAutonomous Driving

    Department of Computer Science and Engineering, Texas A&M University, College Station, TX, USA

  50. Robust and Efficient MuJoCo-based Model Predictive Control via Web of Affine Spaces Derivatives

    Dec 24, 2025Chen Liang, Daniel RakitaModel Predictive ControlMujoco

    Department of Computer Science, Yale University, New Haven, CT 06520, USA

  51. EmbodiedDiffusion: End-to-End Traversability-Guided Visual Diffusion for Heterogeneous Robot Navigation

    Dec 2, 2025Iana Zhura, Sausar Karaf, Faryal Batool +7TraversabilityDiffusion Planning

    Intelligent Space Robotics Laboratory, Center for Digital Engineering, Skolkovo Institute of Science and Technology.