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cs.RO2026
Plan First, Diffuse Later: Extrinsic Graph Guidance for Long-Horizon Diffusion Planning
Yaniv Hassidof, Adir Morgan, Yilun Du +1
Compositional diffusion models offer a promising route to long-horizon planning by denoising multiple overlapping sub-trajectories while ensuring that together they constitute a gl…
cs.RO2025
Anomalies by Synthesis: Anomaly Detection using Generative Diffusion Models for Off-Road Navigation
Siddharth Ancha, Sunshine Jiang, Travis Manderson +4
In order to navigate safely and reliably in off-road and unstructured environments, robots must detect anomalies that are out-of-distribution (OOD) with respect to the training dat…
cs.RO2025
Inference-Time Policy Steering through Human Interactions
Yanwei Wang, Lirui Wang, Yilun Du +6
Generative policies trained with human demonstrations can autonomously accomplish multimodal, long-horizon tasks. However, during inference, humans are often removed from the polic…