RCD: New Diffusion Method for Long-Horizon Planning
Researchers propose Refining Compositional Diffusion (RCD), a training-free guidance method for compositional diffusion planning. It addresses mode-averaging in multimodal local plan distributions by using self-reconstruction error as a log-density proxy and an overlap consistency term. Experiments on OGBench tasks show improved global coherence.
Key facts
- RCD is a training-free guidance method.
- It addresses mode-averaging in compositional diffusion planning.
- Uses self-reconstruction error as log-density proxy.
- Includes overlap consistency term for segment boundaries.
- Tested on OGBench long-horizon tasks.
- Improves global coherence of plans.
- No training required.
- Published on arXiv as 2605.03075.
Entities
Institutions
- arXiv