Training-Free Diffusion Planning with Analytical Local Scores

Excerpt

arXiv:2610.01959v1 Announce Type: cross Abstract: Path finding and multi-robot motion planning require trajectories that are smooth, goal-directed, and collision-free in environments with complex geometric constraints. Recent diffusion-based planners have shown that trajectory generation can be cast as iterative denoising which has opened the doors to learning-based approaches that can handle multi-modal trajectory distributions and refine entire trajectories. However, a key limitation is that d