arXiv:2606. 15359v1 Announce Type: new Abstract: Diffusion models have emerged as powerful tools for planning and control by learning multimodal distributions over actions and trajectories.
arXiv:2607. 14398v1 Announce Type: cross Abstract: Constrained generative models aim to produce samples that satisfy complex feasibility constraints while remaining faithful to the data distribution.
arXiv:2604. 17838v2 Announce Type: replace Abstract: Generative modeling within constrained sets is essential for scientific and engineering applications involving physical, geometric, or safety requirements (e.
The paper presents a single pretrained diffusion traffic model that serves both as an ego motion planner and as a controllable generator of safety‑critical scenarios for autonomous driving. It introduces a Single‑Stream Dual‑Stream diffusion‑transformer decoder (SSDS) that fuses scene context via joint attention, improving closed‑loop performance on the nuPlan benchmark, and a training‑free guidance scheme called Decoupled Annealing Posterior Sampling with Energy (DAPSE) that injects arbitrary energy functions at inference time. Using the same model, the authors generate realistic long‑tail driving interactions—such as aggressive cut‑ins and lead‑vehicle braking—through inference‑time guidance, exposing failure modes in black‑box planners that standard benchmarks miss.
arXiv:2606. 11019v1 Announce Type: cross Abstract: Learning-based motion planners, despite recent progress, often suffer from temporal inconsistency.
The paper presents a training-free diffusion-based motion planner that replaces learned global trajectory scores with analytical local scores derived from obstacle, smoothness, velocity, and inter-agent feasibility terms. By reconstructing trajectory scores through local interactions between neighboring waypoints and nearby constraints, the method decomposes the denoising process while preserving the optimization structure of classical trajectory methods. Experiments demonstrate that this approach generates smooth, feasible trajectories for large multi-agent tasks in complex environments quickly, outperforming learning-based and optimization baselines without requiring training data.
arXiv:2602. 21429v3 Announce Type: replace Abstract: Flow-based generative models, such as diffusion models and flow matching models, have achieved remarkable success in learning complex data distributions.
Learning-based motion planners, despite recent progress, often suffer from temporal inconsistency. Small perturbations across frames can accumulate into unstable trajectories, degrading comfort and safety in closed-loop driving.
arXiv:2606. 27766v1 Announce Type: cross Abstract: Offline reinforcement learning enables policy learning from fixed datasets without additional environment interaction, making it appealing for safety-critical applications where online exploration is costly or unsafe.
arXiv:2602. 05533v3 Announce Type: replace Abstract: We study conditional generation in diffusion models under hard constraints, where generated samples must satisfy prescribed events with probability one.
arXiv:2607.02137v3 Announce Type: replace-cross Abstract: We study timestep allocation for score-based diffusion sampling, where a learned reverse-time dynamics is discretized on a finite grid. Unifo...
arXiv:2607. 02137v1 Announce Type: cross Abstract: We study timestep allocation for score-based diffusion sampling, where a learned reverse-time dynamics is discretized on a finite grid.
We study timestep allocation for score-based diffusion sampling, where a learned reverse-time dynamics is discretized on a finite grid. Uniform and hand-crafted schedules are standard choices, but they rely on fixed prescriptions and can therefore be suboptimal.