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Diffusion-based planners have shown strong performance in short-horizon tasks but often fail in complex, long-horizon settings.
Reinforcement learning and control as probabilistic inference: Tutorial and review
S. Levine · 2018
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Planning with goal-conditioned policies
S. Nasiriany, V. Pong, S. Lin, and S. Levine · 2019
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Denoising diffusion probabilistic models
J. Ho, A. Jain, and P. Abbeel · 2020
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D4rl: Datasets for deep data-driven reinforcement learning
J. Fu, A. Kumar, O. Nachum, G. Tucker, and S. Levine · 2020
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Long-horizon visual planning with goal-conditioned hierarchical predictors
K. Pertsch, O. Rybkin, F. Ebert, S. Zhou, D. Jayaraman, C. Finn, and S. Levine · 2020
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Pddlstream: Integrating symbolic planners and blackbox samplers via optimistic adaptive planning
C. R. Garrett, T. Lozano-Pérez, and L. P. Kaelbling · 2020
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Integrated task and motion planning
C. R. Garrett, R. Chitnis, R. Holladay, B. Kim, T. Silver, L. P. Kaelbling, and T. Lozano-Pérez · 2021
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Hierarchical reinforcement learning: A comprehensive survey
S. Pateria, B. Subagdja, A.-h. Tan, and C. Quek · 2021
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Diffusion models beat gans on image synthesis
P. Dhariwal and A. Nichol · 2021
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Contact-graspnet: Efficient 6-dof grasp generation in cluttered scenes
M. Sundermeyer, A. Mousavian, R. Triebel, and D. Fox · 2021
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Video diffusion models
J. Ho, T. Salimans, A. Gritsenko, W. Chan, M. Norouzi, and D. J. Fleet · 2022
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Planning with diffusion for flexible behavior synthesis
M. Janner, Y. Du, J. B. Tenenbaum, and S. Levine · 2022
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Is conditional generative modeling all you need for decision-making?
A. Ajay, Y. Du, A. Gupta, J. Tenenbaum, T. Jaakkola, and P. Agrawal · 2022
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Sequence-based plan feasibility prediction for efficient task and motion planning
Z. Yang, C. R. Garrett, T. Lozano-Pérez, L. Kaelbling, and D. Fox · 2022
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Analog bits: Generating discrete data using diffusion models with self-conditioning
T. Chen, R. Zhang, and G. Hinton · 2022
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Diffusion policies as an expressive policy class for offline reinforcement learning
Z. Wang, J. J. Hunt, and M. Zhou · 2022
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A hierarchical framework for long horizon planning of object-contact trajectories
B. Aceituno and A. Rodriguez · 2022
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Repaint: Inpainting using denoising diffusion probabilistic models
A. Lugmayr, M. Danelljan, A. Romero, F. Yu, R. Timofte, and L. Van Gool · 2022
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Hierarchical diffusion for offline decision making
W. Li, X. Wang, B. Jin, and H. Zha · 2023
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Learning fine-grained bimanual manipulation with low-cost hardware
T. Z. Zhao, V. Kumar, S. Levine, and C. Finn · 2023
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Diffusion policy: Visuomotor policy learning via action diffusion
C. Chi, Z. Xu, S. Feng, E. Cousineau, Y. Du, B. Burchfiel, R. Tedrake, and S. Song · 2023
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Scaling up and distilling down: Language-guided robot skill acquisition
H. Ha, P. Florence, and S. Song · 2023
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Motion planning diffusion: Learning and planning of robot motions with diffusion models
J. Carvalho, A. T. Le, M. Baierl, D. Koert, and J. Peters · 2023
Cited alongside, same era.
Safediffuser: Safe planning with diffusion probabilistic models
W. Xiao, T.-H. Wang, C. Gan, and D. Rus · 2023
Cited alongside, same era.
Diffusion-based generation, optimization, and planning in 3d scenes
S. Huang, Z. Wang, P. Li, B. Jia, T. Liu, Y. Zhu, W. Liang, and S.-C. Zhu · 2023
Cited alongside, same era.
Diffusion model is an effective planner and data synthesizer for multi-task reinforcement learning
H. He, C. Bai, K. Xu, Z. Yang, W. Zhang, D. Wang, B. Zhao, and X. Li · 2023
Cited alongside, same era.
C.-F. Yang, H. Xu, T.-L. Wu, X. Gao, K.-W. Chang, and F. Gao · 2023
A survey of optimization-based task and motion planning: From classical to learning approaches
Z. Zhao, S. Cheng, Y. Ding, Z. Zhou, S. Zhang, D. Xu, and Y. Zhao · 2024
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Deep generative models in robotics: A survey on learning from multimodal demonstrations
J. Urain, A. Mandlekar, Y. Du, M. Shafiullah, D. Xu, K. Fragkiadaki, G. Chalvatzaki, and J. Peters · 2024
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3d diffusion policy: Generalizable visuomotor policy learning via simple 3d representations
Y. Ze, G. Zhang, K. Zhang, C. Hu, M. Wang, and H. Xu · 2024
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3d diffuser actor: Policy diffusion with 3d scene representations
T.-W. Ke, N. Gkanatsios, and K. Fragkiadaki · 2024
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Cited alongside, same era.
Diffusion models for reinforcement learning: A survey
Z. Zhu, H. Zhao, H. He, Y. Zhong, S. Zhang, H. Guo, T. Chen, and W. Zhang · 2023
Cited alongside, same era.
Learning a diffusion model policy from rewards via q-score matching
M. Psenka, A. Escontrela, P. Abbeel, and Y. Ma · 2023
Cited alongside, same era.
Idql: Implicit q-learning as an actor-critic method with diffusion policies
P. Hansen-Estruch, I. Kostrikov, M. Janner, J. G. Kuba, and S. Levine · 2023
Cited alongside, same era.
Llm-state: Expandable state representation for long-horizon task planning in the open world
S. Chen, A. Xiao, and D. Hsu · 2023
Cited alongside, same era.
Long-horizon planning and execution with functional object-oriented networks
D. Paulius, A. Agostini, and D. Lee · 2023
Cited alongside, same era.
A hierarchical multivariate denoising diffusion model
C. Zhang, D. Jiang, K. Jiang, and B. Jiang · 2023
Cited alongside, same era.
Hierarchical visual policy learning for long-horizon robot manipulation in densely cluttered scenes
H. Wang, L. Qi, B. Fang, and Y. Sun · 2023
Cited alongside, same era.
G. Yan, Y.-H. Wu, and X. Wang · 2024
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Language-guided manipulation with diffusion policies and constrained inpainting
C. Hao, K. Lin, S. Luo, and H. Soh · 2024
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Diffusion-based dynamics models for long-horizon rollout in offline reinforcement learning
H. Zhao, X. Han, Z. Zhu, M. Liu, Y. Yu, and W. Zhang · 2024
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Potential based diffusion motion planning
Y. Luo, C. Sun, J. B. Tenenbaum, and Y. Du · 2024
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Unlocking guidance for discrete state-space diffusion and flow models
H. Nisonoff, J. Xiong, S. Allenspach, and J. Listgarten · 2024
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Preferred-action-optimized diffusion policies for offline reinforcement learning
T. Zhang, J. Guan, L. Zhao, Y. Li, D. Li, Z. Zeng, L. Sun, Y. Chen, X. Wei, L. Li, et al · 2024
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Diffusion policy policy optimization
A. Z. Ren, J. Lidard, L. L. Ankile, A. Simeonov, P. Agrawal, A. Majumdar, B. Burchfiel, H. Dai, and M. Simchowitz · 2024
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Diffusion actor-critic with entropy regulator
Y. Wang, L. Wang, Y. Jiang, W. Zou, T. Liu, X. Song, W. Wang, L. Xiao, J. Wu, J. Duan, et al · 2024
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Diffusion policies for out-of-distribution generalization in offline reinforcement learning
S. E. Ada, E. Oztop, and E. Ugur · 2024
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Offline reinforcement learning with reverse diffusion guide policy
J. Zhang, Y. Cheng, S. Cao, and X. Wang · 2024
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Diffusion meets options: Hierarchical generative skill composition for temporally-extended tasks
Z. Feng, H. Luan, K. Y. Ma, and H. Soh · 2024
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Rekep: Spatio-temporal reasoning of relational keypoint constraints for robotic manipulation
W. Huang, C. Wang, Y. Li, R. Zhang, and L. Fei-Fei · 2024
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Z. Huang, Y. Lin, F. Yang, and D. Berenson · 2024
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Skilldiffuser: Interpretable hierarchical planning via skill abstractions in diffusion-based task execution
Z. Liang, Y. Mu, H. Ma, M. Tomizuka, M. Ding, and P. Luo · 2024
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Diffusion-reinforcement learning hierarchical motion planning in adversarial multi-agent games
Z. Wu, S. Ye, M. Natarajan, and M. C. Gombolay · 2024
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Scaling open-vocabulary object detection
M. Minderer, A. Gritsenko, and N. Houlsby · 2024
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Disco: Language-guided manipulation with diffusion policies and constrained inpainting
C. Hao, K. Lin, Z. Xue, S. Luo, and H. Soh · 2025
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Vfp: Variational flow-matching policy for multi-modal robot manipulation
X. Zhai and C. Hao · 2025
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