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.
By Michael Y. Fatemi, Jinhao Liang, Ferdinando Fioretto
arXiv:2604. 07084v2 Announce Type: replace-cross Abstract: Open-loop end-to-end neural motion planners have recently been proposed to improve motion planning for robotic manipulators.
By Davood Soleymanzadeh, Xiao Liang, Minghui Zheng
arXiv:2607. 14424v1 Announce Type: cross Abstract: In recent years Flow Matching has become a prominent method for generative modeling robot motion generation.
By Nutan Chen, Jianxiang Feng, Marvin Alles, Botond Cseke
arXiv:2606. 30940v1 Announce Type: cross Abstract: Deep learning methods have vastly expanded the capabilities of motion planning in robotics applications, as learning priors from large-scale data has been shown to be essential in capturing the highly complex behavior required for solving tasks such as manipulation or navigation for autonomous vehicles.
By Lukas Lao Beyer, Sertac Karaman
arXiv:2608. 05588v1 Announce Type: cross Abstract: Lifelong Multi-Agent Path Finding (LMAPF) requires repeatedly planning collision-free paths for agents that continuously receive new goals upon reaching their current ones.
By He Jiang, Jingtian Yan, Yulun Zhang, Yimin Tang, Tanishq Duhan, Rishi Veerapaneni, Guillaume Sartoretti, Jiaoyang Li
arXiv:2606. 08657v1 Announce Type: cross Abstract: Diffusion-based visuomotor policies operating directly in raw action spaces conflate scene comprehension with trajectory generation within a single denoising process.
By Zhexuan Zhou, Yichen Lai, Jinhao Zhang, Huizhe Li, Youmin Gong, Jie Mei
arXiv:2609.14261v1 Announce Type: cross
Abstract: Recent robot learning paradigms increasingly rely on large offline datasets of robotic interactions to train control policies. Expressive generative...
By Prajwal Koirala, Mark Campbell
arXiv:2606. 00366v1 Announce Type: new Abstract: We consider the problem of generating a large collection of initial guesses for local minima of multimodal non-convex continuous optimization problems.
By Anjian Li, Bartolomeo Stellato, Ryne Beeson
arXiv:2609.15014v1 Announce Type: cross
Abstract: Pretrained generative robot policies can produce effective behaviors across diverse environments, but deployment can lead to requirements and prefere...
By Yixuan Jia, Jonathan P. How
ObstaDiff is a diffusion-policy framework that introduces a lightweight obstacle-aware visual encoder to generate structured representations of targets, obstacles, and background. By aligning these representations, the policy produces end-effector trajectories that focus on a target-centered bottleneck pose while accounting for surrounding obstacles. In real-robot greenhouse trials, ObstaDiff achieved a 75.41% task success rate and an 8.20% obstacle collision rate, outperforming existing imitation-learning baselines in cluttered agricultural settings.
By Jiawen Wang, Kevin Yao, Khalid Jawed
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.
By Darshan Gadginmath, Ahmed Allibhoy, Fabio Pasqualetti
arXiv:2609.38855v1 Announce Type: cross
Abstract: Vision-Language-Action (VLA) models based on generative frameworks, such as Flow Matching, have recently achieved impressive performance in robotic m...
By Gongxin Yao, Yongsheng Zhao, Jiayin Deng, Deng Liang, Han Gao, Lei Zhao, Baoping Cheng