mlsanityData to 14 Oct 2026

Compositional Diffusion-Based Continuous Constraint Solvers

arXiv 2309.00966 ↗First posted 2 Sep 2023cs.RO cs.AI cs.LGcited by 40

Not on the map. Why?

Cited by 20 in Diffusion models, but placed by its own abstract, which didn’t fit.

Abstract (arXiv)

This paper introduces an approach for learning to solve continuous constraint satisfaction problems (CCSP) in robotic reasoning and planning. Previous methods primarily rely on hand-engineering or learning generators for specific constraint types and then rejecting the value assignments when other constraints are violated. By contrast, our model, the compositional diffusion continuous constraint solver (Diffusion-CCSP) derives global solutions to CCSPs by representing them as factor graphs and combining the energies of diffusion models trained to sample for individual constraint types. Diffusion-CCSP exhibits strong generalization to novel combinations of known constraints, and it can be integrated into a task and motion planner to devise long-horizon plans that include actions with both discrete and continuous parameters. Project site: https://diffusion-ccsp.github.io/

Key facts. Cited by 40 papers in the map (data through 14 Oct 2026). Builds on 27 of its 36 references that are in the map. First posted on arXiv 2 Sep 2023.

Builds on

27 of 36 references.

References · 27

  1. 2021Improved Denoising Diffusion Probabilistic Modelscited by 3,761
  2. 2015ShapeNet: An Information-Rich 3D Model Repositorycited by 2,897
  3. 2022Compositional Visual Generation with Composable Diffusion Modelscited by 624
  4. 2021CLIPort: What and Where Pathways for Robotic Manipulationcited by 622
  5. 2020SAPIEN: A SimulAted Part-based Interactive ENvironmentcited by 595
  6. 2019Learning Latent Plans from Playcited by 316
  7. 2020Integrated Task and Motion Planningcited by 290
  8. 20196-DOF GraspNet: Variational Grasp Generation for Object Manipulationcited by 242
  9. 2023Reduce, Reuse, Recycle: Compositional Generation with Energy-Based Diffusion Models and MCMCcited by 220
  10. 2018PDDLStream: Integrating Symbolic Planners and Blackbox Samplers via Optimistic Adaptive Planningcited by 150
  11. 2022What Matters in Language Conditioned Robotic Imitation Learning over Unstructured Datacited by 138
  12. 2021Learning to Compose Visual Relationscited by 72
15 more
  1. 2021Controllable and Compositional Generation with Latent-Space Energy-Based Modelscited by 64
  2. 2021StructFormer: Learning Spatial Structure for Language-Guided Semantic Rearrangement of Novel Objectscited by 59
  3. 2022SE(3)-Equivariant Relational Rearrangement with Neural Descriptor Fieldscited by 51
  4. 2022StructDiffusion: Language-Guided Creation of Physically-Valid Structures using Unseen Objectscited by 50
  5. 2022Global Planning for Contact-Rich Manipulation via Local Smoothing of Quasi-dynamic Contact Modelscited by 49
  6. 2021SORNet: Spatial Object-Centric Representations for Sequential Manipulationcited by 48
  7. 2021Long-Horizon Manipulation of Unknown Objects via Task and Motion Planning with Estimated Affordancescited by 40
  8. 2023Energy-based Models are Zero-Shot Planners for Compositional Scene Rearrangementcited by 30
  9. 2021Predicting Stable Configurations for Semantic Placement of Novel Objectscited by 24
  10. 2020A Long Horizon Planning Framework for Manipulating Rigid Pointcloud Objectscited by 23
  11. 2018Stable bin packing of non-convex 3D objects with a robot manipulatorcited by 21
  12. 2022Sequence-Based Plan Feasibility Prediction for Efficient Task and Motion Planningcited by 19
  13. 2021Composable Energy Policies for Reactive Motion Generation and Reinforcement Learningcited by 16
  14. 2022ZeroC: A Neuro-Symbolic Model for Zero-shot Concept Recognition and Acquisition at Inference Timecited by 16
  15. 2021Learning Perceptual Concepts by Bootstrapping from Human Queriescited by 12

Built on by

Cited by year (2026 to 14 Oct)

Citing papers per year: 2023: 1; 2024: 17; 2025: 15; 2026: 7.

40 papers.

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By area:

  1. 2024ReKep: Spatio-Temporal Reasoning of Relational Keypoint Constraints for Robotic Manipulationcited by 315
  2. 2023Video Language Planningcited by 162
  3. 2024RoboEXP: Action-Conditioned Scene Graph via Interactive Exploration for Robotic Manipulationcited by 48
  4. 2024PoCo: Policy Composition from and for Heterogeneous Robot Learningcited by 42
  5. 2024Compositional Generative Modeling: A Single Model is Not All You Needcited by 41
  6. 2024Potential Based Diffusion Motion Planningcited by 41
  7. 2025Generative Trajectory Stitching through Diffusion Compositioncited by 41
  8. 2025Diffusion Models for Robotic Manipulation: A Surveycited by 41
  9. 2024Inference-Time Policy Steering through Human Interactionscited by 38
  10. 2024Learning Iterative Reasoning through Energy Diffusioncited by 36
  11. 2024Deep Generative Models in Robotics: A Survey on Learning from Multimodal Demonstrationscited by 35
  12. 2024Model-Based Diffusion for Trajectory Optimizationcited by 32
28 more
  1. 2025PoE-World: Compositional World Modeling with Products of Programmatic Expertscited by 26
  2. 2024Practice Makes Perfect: Planning to Learn Skill Parameter Policiescited by 23
  3. 2024Compositional Generative Inverse Designcited by 20
  4. 2024DiffuSolve: Diffusion-based Solver for Non-convex Trajectory Optimizationcited by 20
  5. 2024Trust the PRoC3S: Solving Long-Horizon Robotics Problems with LLMs and Constraint Satisfactioncited by 19
  6. 2025Mechanisms of Projective Composition of Diffusion Modelscited by 14
  7. 2025Multi-Modal Manipulation via Multi-Modal Policy Consensuscited by 13
  8. 2024Constraint-Aware Diffusion Models for Trajectory Optimizationcited by 11
  9. 2024"Set It Up!": Functional Object Arrangement with Compositional Generative Modelscited by 9
  10. 2025TeLoGraF: Temporal Logic Planning via Graph-encoded Flow Matchingcited by 9
  11. 2024DISCO: Language-Guided Manipulation with Diffusion Policies and Constrained Inpaintingcited by 8
  12. 2025Modality-Composable Diffusion Policy via Inference-Time Distribution-level Compositioncited by 7
  13. 2025Aligning Diffusion Model with Problem Constraints for Trajectory Optimizationcited by 7
  14. 2025Projected Coupled Diffusion for Test-Time Constrained Joint Generationcited by 7
  15. 2025Flexible Multitask Learning with Factorized Diffusion Policycited by 5
  16. 2025Prime the search: Using large language models for guiding geometric task and motion planning by warm-starting tree searchcited by 4
  17. 2024Composing Diffusion Policies for Few-shot Learning of Movement Trajectoriescited by 3
  18. 2025Local Mechanisms of Compositional Generalization in Conditional Diffusioncited by 3
  19. 2025Factorizing Diffusion Policies for Observation Modality Prioritizationcited by 3
  20. 2025CCDP: Composition of Conditional Diffusion Policies with Guided Samplingcited by 2
  21. 2026Compositional Visual Planning via Inference-Time Diffusion Scalingcited by 2
  22. 2026Grounding Generative Policies in Physics: Optimization-Guided Diffusion for Robot Controlcited by 2
  23. 2025LayoutAgent: A Vision-Language Agent Guided Compositional Diffusion for Spatial Layout Planningcited by 1
  24. 2026Long-Text-to-Image Generation via Compositional Prompt Decompositioncited by 1
  25. 2026From Global to Factor-Wise Expert Composition in Discrete Diffusion Modelscited by 0
  26. 2026Test-Time Spatial Reasoning for Robot Manipulation Using Generative Real-to-Simcited by 0
  27. 2026Learning to Plan from Random Explorationcited by 0
  28. 2026Learning Task and Motion Plans from Real Demonstrations with Hybrid Flow Matchingcited by 0

Similar, not cited

Close in wording, no citation either way

  1. 2024Multi-Robot Motion Planning with Diffusion Models
  2. 2025Cascaded Diffusion Models for Neural Motion Planning
  3. 2024Generative Factor Chaining: Coordinated Manipulation with Diffusion-based Factor Graph
  4. 2025When Diffusion Breaks Constraints: Sequential Autoregressive Generation with RL and MCTS
  5. 2025Hybrid Diffusion for Simultaneous Symbolic and Continuous Planning
  6. 2024LDP: A Local Diffusion Planner for Efficient Robot Navigation and Collision Avoidance
  7. 2025Accelerating db-A* for Kinodynamic Motion Planning Using Diffusion
  8. 2024Sparse Diffusion Policy: A Sparse, Reusable, and Flexible Policy for Robot Learning