mlsanityData to 14 Oct 2026

Toward Open-ended Embodied Tasks Solving

arXiv 2312.05822 ↗First posted 10 Dec 2023cs.AIcited by 3

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Abstract (arXiv)

Empowering embodied agents, such as robots, with Artificial Intelligence (AI) has become increasingly important in recent years. A major challenge is task open-endedness. In practice, robots often need to perform tasks with novel goals that are multifaceted, dynamic, lack a definitive "end-state", and were not encountered during training. To tackle this problem, this paper introduces textitDiffusion for Open-ended Goals (DOG), a novel framework designed to enable embodied AI to plan and act flexibly and dynamically for open-ended task goals. DOG synergizes the generative prowess of diffusion models with state-of-the-art, training-free guidance techniques to adaptively perform online planning and control. Our evaluations demonstrate that DOG can handle various kinds of novel task goals not seen during training, in both maze navigation and robot control problems. Our work sheds light on enhancing embodied AI's adaptability and competency in tackling open-ended goals.

Key facts. Cited by 3 papers in the map (data through 14 Oct 2026). Builds on 48 of its 59 references that are in the map. First posted on arXiv 10 Dec 2023.

Builds on

48 of 59 references.

References · 48

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36 more
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Cited by year

Citing papers per year: 2024: 2; 2025: 1.

3 papers.

  1. 2025What Makes a Good Diffusion Planner for Decision Making?cited by 38
  2. 2024Understanding and Improving Training-free Loss-based Diffusion Guidancecited by 32
  3. 2024Position: Foundation Agents as the Paradigm Shift for Decision Makingcited by 9

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