3 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.RO2026
Scalable Inspection Planning via Flow-based Mixed Integer Linear Programming
Adir Morgan, Kiril Solovey, Oren Salzman
Inspection planning is concerned with computing the shortest robot path to inspect a given set of points of interest (POIs) using the robot's sensors. This problem arises in a wide…
cs.RO2026
Routing and Control for Marine Oil-Spill Cleanup with a Boom-Towing Vessel Fleet
Snir Carmeli, Adir Morgan, Kiril Solovey
Marine oil spills damage ecosystems, contaminate coastlines, and disrupt food webs, while imposing substantial economic losses on fisheries and coastal communities. Prior work has…