Hybrid Diffusion Model Enhances Long-Horizon Robot Planning
A new research paper on arXiv proposes a hybrid diffusion model that combines discrete and continuous diffusion to improve long-horizon planning for robots. The approach simultaneously generates high-level symbolic plans and continuous trajectories, outperforming baselines on complex decision-making tasks. The method enables flexible trajectory synthesis conditioned on partial or complete symbolic constraints.
Key facts
- Paper ID: arXiv:2509.21983v2
- Announce Type: replace-cross
- Proposes hybrid diffusion for simultaneous symbolic and continuous planning
- Addresses limitations of diffusion models in long-horizon tasks
- Outperforms baselines on complex decision-making
- Enables flexible trajectory synthesis with symbolic conditioning
- Combines discrete variable diffusion and continuous diffusion
- Published on arXiv
Entities
Institutions
- arXiv