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cs.RO2026
Refining Compositional Diffusion for Reliable Long-Horizon Planning
Kyowoon Lee, Yunhao Luo, Anh Tong +1
Compositional diffusion planning generates long-horizon trajectories by stitching together overlapping short-horizon segments through score composition. However, when local plan di…
cs.RO2026
Compositional Visual Planning via Inference-Time Diffusion Scaling
Yixin Zhang, Yunhao Luo, Utkarsh Aashu Mishra +3
Diffusion models excel at short-horizon robot planning, yet scaling them to long-horizon tasks remains challenging due to computational constraints and limited training data. Exist…