Diffusion-Based Planning

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11 papers in the last four weeks, up 175% on the four weeks before. 0.1% of all new papers.

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  1. BridgeGuard: Explicit Safety Drift for Diffusion-based Autonomous Driving

    Oct 8, 2026Zhenjun Qiu, Jianing Huang, Dongang Liu +6Safe Motion PlanningDiffusion-Based Planning

    Bosch Research · Shanghai Jiao Tong University

  2. Plan-and-Patch: Diffusion Language Models for Agentic Planning

    Oct 7, 2026Syamantak Kumar, Jiang Guo, Hassan Hamad +6LLM PlanningDiffusion-Based Planning

    University of Texas at Austin · Amazon

  3. Model-Based Geometry-Aware Generative Optimization for Constrained Locomotion Planning

    Oct 6, 2026Zhilin He, Xinyuan Wang, Changliu LiuConstrained Generative ModelingConstrained Motion Planning

    Carnegie Mellon University · University of Michigan, Ann Arbor

  4. Execution-Aligned Progressive Noise for Consistent Asynchronous Replanning in Generative Robot Policies

    Oct 5, 2026Di Wu, Ping Liu, Xuhua Chen +3Robot Policy LearningDiffusion-Based Planning

    Magiclab Robotics Technology Co., Ltd., China · Southeast University, Nanjing, China

  5. P3: Persistent Particle Planning for Constrained Diffusion Control

    Oct 5, 2026Hikmet Simsir, Mahyar Fardinfar, Ozgur S. OguzConstrained Motion PlanningTrajectory Generation

    Department of Computer Engineering, Bilkent University

  6. Spacecraft Rendezvous Trajectory Generation with Modular Constraints via Diffusion Model Composition

    Oct 5, 2026Mariko A. Storey-Matsutani, Richard LinaresConstrained Generative ModelingTrajectory Generation

    Graduate Student, Department of Aeronautics and Astronautics, Massachusetts Inst. of Technology, Cambridge MA · Associate Professor, Department of Aeronautics and Astronautics, Massachusetts Inst. of Technology, Cambridge MA

  7. Training-Free Diffusion Planning with Analytical Local Scores

    Oct 1, 2026Michael Y. Fatemi, Jinhao Liang, Ferdinando FiorettoMulti-Robot Motion PlanningConstrained Motion Planning

    University of Virginia

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

    Sep 30, 2026Jiaxi Ye, Chunji Lv, Guoren Wang +1Diffusion-Based PlanningAutonomous Driving Planning

    Beijing Institute of Technology

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

    Sep 29, 2026Tianyou Yu, Shengze Cai, Chao XuMulti-Robot Motion PlanningTrajectory Generation

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

  10. Denoising Multi-Robot Trajectories

    Sep 28, 2026Yuhao Zhang, Keisuke Okumura, Ajay Shankar +1Multi-Robot Motion PlanningKinodynamic Motion Planning

    Department of Computer Science and Technology, University of Cambridge, U.K. · National Institute of Advanced Industrial Science and Technology (AIST), Japan

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

    Sep 28, 2026Hengrui Zhang, Yuhu Cheng, C. L. Philip Chen +1Diffusion-Based PlanningHierarchical RL

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

  12. Koopman-Accelerated Model-Based Diffusion for Real-Time Robot Control

    Sep 24, 2026Bohyeong Pak, Kangmin Lee, Sanghyun KimRobotic ControlDiffusion-Based Planning

    Department of Mechanical Engineering, Kyung Hee University, Yongin, Republic of Korea.

  13. ForeDrive: Foresight-Guided End-to-End Autonomous Driving with a Planning-Relevant Latent World Model

    Sep 22, 2026Sinuo Wang, Zichong Gu, Yuhan Huang +10End-to-End Autonomous DrivingDiffusion-Based Planning

    Huazhong University of Science and Technology · Shanghai Zaofu Intelligent Technology Co., Ltd. · Tongji University

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

    Sep 20, 2026Iana Zhura, Satenik Akopyan, Roohan Ahmed Khan +3Multi-Robot Motion PlanningAerial Robotics

    Skolkovo Institute of Science and Technology, Moscow, Russia

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

    Sep 17, 2026Faith Ogunwoye, Iana Zhura, Hajira Amjad +5Trajectory GenerationDiffusion-Based Planning

    Skolkovo Institute of Science and Technology, Moscow, Russia

  16. ObstaDiff: Generalizable Diffusion Policy Learning via Obstacle-aware Representations

    Sep 10, 2026Jiawen Wang, Kevin Yao, Khalid JawedDiffusion-Based PlanningGeneralization in Robotic Manipulation

    Department of Mechanical and Aerospace Engineering, University of California, Los Angeles · Department of Computer Science, University of California, Los Angeles

  17. PccDiffuser: Multi-solution Motion Planning for Continuum Robots

    Sep 9, 2026Ke Qiu, Sifan Chen, Si Wang +3Constrained Motion PlanningDiffusion-Based Planning

    Department of Control Science and Engineering, Zhejiang University, Hangzhou, China

  18. DiffuSearch: How Hybrid Trajectory Planning Benefits from Aligned Objectives in Diffusion and Action Space

    Sep 2, 2026Steffen Hagedorn, Aron Distelzweig, Alexandru P. ConduracheAutonomous Driving PlanningAutonomous Driving

    Robert Bosch GmbH, Germany · Institute for Neuro- and Bioinformatics, University of Lübeck, Germany · Department of Computer Science, University of Freiburg, Germany

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

    Aug 14, 2026Binling Huang, Nianjin Ye, Xi Yang +6Visual NavigationTrajectory Generation

    Changhong Intelligent Robot University of Electronic Science and Technology of China

  20. DreamFly: Causal Memory and Receding-Horizon Diffusion Planning for Aerial Vision-Language Navigation

    Aug 12, 2026Yan Deng, Fei XuMemory-Augmented VLMsDiffusion-Based Planning

    School of Electronic Information Engineering, Xi’an Technological University, Xi’an, China · School of Computer Science and Engineering, Xi’an Technological University, Xi’an, China

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

    Aug 10, 2026Nakgyu Yang, KwangBin Lee, SooJean HanConstrained Motion PlanningTrajectory Generation

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

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

    Aug 6, 2026Sining Ang, Yuguang Yang, Yan WangEfficient InferenceDiffusion Transformer

    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

  23. UniNav: A Unified World-Action Diffusion Model for Visual Navigation

    Aug 4, 2026Changqing Zhou, Yueru Luo, Zeyu Jiang +1Visual NavigationTrajectory Generation

    1The Hong Kong University of Science and Technology (Guangzhou) · 2The Chinese University of Hong Kong, Shenzhen

  24. Accelerating Human-Aware Robot Trajectory Generation via Diffusion and Consistency Distillation

    Aug 4, 2026Byeong-Il Ham, Hyun-Bin Kim, Kyung-Soo KimConstrained Motion PlanningTrajectory Generation

  25. Grasp, Handover, Rotate: Bimanual Object Reorientation via Compositional Diffusion and Energy-Based Optimization

    Jul 23, 2026Wun Lam Yeung, Wenjun Liu, Yui Cheung Yu +5Robotic GraspingBimanual Robotic Manipulation

    The Hong Kong University of Science and Technology · Shenzhen Loop Area Institute

  26. Diffusion ReRoll: Revisable Denoising for Robotic Sequential Prediction

    Jul 22, 2026Seonsoo Kim, Seongil Hong, Jun-Gill KangDiffusion-Based PlanningDiffusion Policy

    Agency for Defense Development

  27. Learning Adaptive Safety Margins for Visual Navigation

    Jul 20, 2026Junyi Hu, Shuaihang Yuan, Geeta Chandra Raju Bethala +2Visual NavigationTrajectory Generation

    New York University Abu Dhabi, UAE.

  28. Motion Planning with Model-Based Diffusion via Constraint Optimization and Adaptive Scheduling

    Jul 16, 2026Zhilin He, Bowei Li, Jianlin Dou +2Constrained Motion PlanningTrajectory Optimization

    Carnegie Mellon University · University of Pennsylvania

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

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

    Carnegie Mellon University, Pittsburgh, PA, USA

  30. Learning to Navigate with Minimal Parameters: Decomposing Visual Navigation Through Closed-Form Geometric Interfaces

    Jul 13, 2026Edward Beng Wai Tan, Siew-Kei LamVisual NavigationRobot Policy Learning

    College of Computing and Data Science, Nanyang Technological University, Singapore.