2 papers
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.LG2025
Train-Once Plan-Anywhere Kinodynamic Motion Planning via Diffusion Trees
Yaniv Hassidof, Tom Jurgenson, Kiril Solovey
Kinodynamic motion planning is concerned with computing collision-free trajectories while abiding by the robot's dynamic constraints. This critical problem is often tackled using s…