mlsanityData to 14 Oct 2026

DiffuserLite: Towards Real-time Diffusion Planning

arXiv 2401.15443 ↗First posted 27 Jan 2024cs.AIcited by 42

Not on the map. Why?

Cited by 23 in Diffusion models, but placed by its own abstract, which didn’t fit.

Abstract (arXiv)

Diffusion planning has been recognized as an effective decision-making paradigm in various domains. The capability of generating high-quality long-horizon trajectories makes it a promising research direction. However, existing diffusion planning methods suffer from low decision-making frequencies due to the expensive iterative sampling cost. To alleviate this, we introduce DiffuserLite, a super fast and lightweight diffusion planning framework, which employs a planning refinement process (PRP) to generate coarse-to-fine-grained trajectories, significantly reducing the modeling of redundant information and leading to notable increases in decision-making frequency. Our experimental results demonstrate that DiffuserLite achieves a decision-making frequency of 122.2Hz (112.7x faster than predominant frameworks) and reaches state-of-the-art performance on D4RL, Robomimic, and FinRL benchmarks. In addition, DiffuserLite can also serve as a flexible plugin to increase the decision-making frequency of other diffusion planning algorithms, providing a structural design reference for future works. More details and visualizations are available at https://diffuserlite.github.io/.

Key facts. Cited by 42 papers in the map (data through 14 Oct 2026). Builds on 47 of its 55 references that are in the map. First posted on arXiv 27 Jan 2024.

Builds on

47 of 55 references.

References · 47

  1. 2015U-Net: Convolutional Networks for Biomedical Image Segmentationcited by 19,713
  2. 2020Denoising Diffusion Implicit Modelscited by 9,781
  3. 2020Score-Based Generative Modeling through Stochastic Differential Equationscited by 9,122
  4. 2021Diffusion Models Beat GANs on Image Synthesiscited by 8,255
  5. 2022Scalable Diffusion Models with Transformerscited by 6,054
  6. 2022Classifier-Free Diffusion Guidancecited by 5,847
  7. 2016Layer Normalizationcited by 5,669
  8. 2023Adding Conditional Control to Text-to-Image Diffusion Modelscited by 5,503
  9. 2021Improved Denoising Diffusion Probabilistic Modelscited by 3,761
  10. 2022Flow Straight and Fast: Learning to Generate and Transfer Data with Rectified Flowcited by 3,700
  11. 2022DreamBooth: Fine Tuning Text-to-Image Diffusion Models for Subject-Driven Generationcited by 3,300
  12. 2023Diffusion Policy: Visuomotor Policy Learning via Action Diffusioncited by 2,838
35 more
  1. 2022DPM-Solver: A Fast ODE Solver for Diffusion Probabilistic Model Sampling in Around 10 Stepscited by 1,979
  2. 2020Conservative Q-Learning for Offline Reinforcement Learningcited by 1,809
  3. 2016OpenAI Gymcited by 1,736
  4. 2020D4RL: Datasets for Deep Data-Driven Reinforcement Learningcited by 1,427
  5. 2021Offline Reinforcement Learning with Implicit Q-Learningcited by 1,293
  6. 2018Learning Latent Dynamics for Planning from Pixelscited by 1,264
  7. 2022Imagic: Text-Based Real Image Editing with Diffusion Modelscited by 1,178
  8. 2021Variational Diffusion Modelscited by 1,153
  9. 2022Planning with Diffusion for Flexible Behavior Synthesiscited by 1,061
  10. 2021What Matters in Learning from Offline Human Demonstrations for Robot Manipulationcited by 725
  11. 2023AudioLDM: Text-to-Audio Generation with Latent Diffusion Modelscited by 599
  12. 2022Diffusion Policies as an Expressive Policy Class for Offline Reinforcement Learningcited by 562
  13. 2023Learning Universal Policies via Text-Guided Video Generationcited by 522
  14. 2022Is Conditional Generative Modeling all you need for Decision-Making?cited by 516
  15. 2022Temporal Difference Learning for Model Predictive Controlcited by 397
  16. 2019Relay Policy Learning: Solving Long-Horizon Tasks via Imitation and Reinforcement Learningcited by 384
  17. 2023Imitating Human Behaviour with Diffusion Modelscited by 263
  18. 2023MotionDiffuser: Controllable Multi-Agent Motion Prediction using Diffusioncited by 213
  19. 2021RvS: What is Essential for Offline RL via Supervised Learning?cited by 185
  20. 2023Scaling Robot Learning with Semantically Imagined Experiencecited by 177
  21. 2023AdaptDiffuser: Diffusion Models as Adaptive Self-evolving Plannerscited by 149
  22. 2023Diffusion Model is an Effective Planner and Data Synthesizer for Multi-Task Reinforcement Learningcited by 115
  23. 2023Synthetic Experience Replaycited by 101
  24. 2023Diffusion Models for Reinforcement Learning: A Surveycited by 91
  25. 2023MADiff: Offline Multi-agent Learning with Diffusion Modelscited by 75
  26. 2024Simple Hierarchical Planning with Diffusioncited by 73
  27. 2023MetaDiffuser: Diffusion Model as Conditional Planner for Offline Meta-RLcited by 68
  28. 2021NeoRL: A Near Real-World Benchmark for Offline Reinforcement Learningcited by 63
  29. 2023AlignDiff: Aligning Diverse Human Preferences via Behavior-Customisable Diffusion Modelcited by 37
  30. 2021Nearly Horizon-Free Offline Reinforcement Learningcited by 36
  31. 2023Adaptive Online Replanning with Diffusion Modelscited by 34
  32. 2023DiffCPS: Diffusion Model based Constrained Policy Search for Offline Reinforcement Learningcited by 28
  33. 2023Refining Diffusion Planner for Reliable Behavior Synthesis by Automatic Detection of Infeasible Planscited by 27
  34. 2023Diffused Task-Agnostic Milestone Plannercited by 12
  35. 2016A Survey of Deep Network Solutions for Learning Control in Robotics: From Reinforcement to Imitationcited by 6

Built on by

Cited by year (2026 to 14 Oct)

Citing papers per year: 2024: 6; 2025: 24; 2026: 12.

42 papers.

Sort:

By area:

  1. 2024Diffusion-based Reinforcement Learning via Q-weighted Variational Policy Optimizationcited by 110
  2. 2024ManiCM: Real-time 3D Diffusion Policy via Consistency Model for Robotic Manipulationcited by 57
  3. 2024CleanDiffuser: An Easy-to-use Modularized Library for Diffusion Models in Decision Makingcited by 39
  4. 2025What Makes a Good Diffusion Planner for Decision Making?cited by 38
  5. 2024Diffusion Model for Planning: A Systematic Literature Reviewcited by 17
  6. 2025DDAT: Diffusion Policies Enforcing Dynamically Admissible Robot Trajectoriescited by 14
  7. 2025State-Covering Trajectory Stitching for Diffusion Plannerscited by 13
  8. 2025Local Manifold Approximation and Projection for Manifold-Aware Diffusion Planningcited by 9
  9. 2025Habitizing Diffusion Planning for Efficient and Effective Decision Makingcited by 7
  10. 2025Hybrid Diffusion for Simultaneous Symbolic and Continuous Planningcited by 7
  11. 2026STEP: Warm-Started Visuomotor Policies with Spatiotemporal Consistency Predictioncited by 7
  12. 2026One-Step Flow Policy: Self-Distillation for Fast Visuomotor Policiescited by 7
30 more
  1. 2025CHD: Coupled Hierarchical Diffusion for Long-Horizon Taskscited by 6
  2. 2025Fast Monte Carlo Tree Diffusion: 100x Speedup via Parallel Sparse Planningcited by 6
  3. 2025Diffusion Models for Future Networks and Communications: A Comprehensive Surveycited by 6
  4. 2025Generative Auto-Bidding in Large-Scale Competitive Auctions via Diffusion Completer-Alignercited by 5
  5. 2024MODULI: Unlocking Preference Generalization via Diffusion Models for Offline Multi-Objective Reinforcement Learningcited by 4
  6. 2025Dynamics-aware Diffusion Models for Planning and Controlcited by 4
  7. 2025Train-Once Plan-Anywhere Kinodynamic Motion Planning via Diffusion Treescited by 3
  8. 2025SAD-Flower: Flow Matching for Safe, Admissible, and Dynamically Consistent Planningcited by 3
  9. 2026Implicit Maximum Likelihood Estimation for Real-time Generative Model Predictive Controlcited by 3
  10. 2025Maximize Your Diffusion: A Study into Reward Maximization and Alignment for Diffusion-based Controlcited by 2
  11. 2025Extendable Planning via Multiscale Diffusioncited by 2
  12. 2025Analytic Energy-Guided Policy Optimization for Offline Reinforcement Learningcited by 2
  13. 2025Compositional Monte Carlo Tree Diffusion for Extendable Planningcited by 2
  14. 2026Planning with Language and Generative Models: Toward General Reward-Guided Wireless Network Designcited by 2
  15. 2026Compositional Visual Planning via Inference-Time Diffusion Scalingcited by 2
  16. 2026Refining Compositional Diffusion for Reliable Long-Horizon Planningcited by 2
  17. 2026HDFlow: Hierarchical Diffusion-Flow Planning for Long-horizon Taskscited by 2
  18. 2025DnD Filter: Differentiable State Estimation for Dynamic Systems using Diffusion Modelscited by 1
  19. 2025Belief-Conditioned One-Step Diffusion: Real-Time Trajectory Planning with Just-Enough Sensingcited by 1
  20. 2025A Diffusion-Refined Planner with Reinforcement Learning Priors for Confined-Space Parkingcited by 1
  21. 2026Improving Diffusion Planners by Self-Supervised Action Gating with Energiescited by 1
  22. 2024Off-dynamics Conditional Diffusion Plannerscited by 0
  23. 2025Decision Flow Policy Optimizationcited by 0
  24. 2025RAD: Retrieval High-quality Demonstrations to Enhance Decision-makingcited by 0
  25. 2025Mixed-Density Diffuser: Efficient Planning with Non-Uniform Temporal Resolutioncited by 0
  26. 2025Efficient Diffusion Planning with Temporal Diffusioncited by 0
  27. 2026Infinite Gaze Generation for Videos with Autoregressive Diffusioncited by 0
  28. 2026From Denoising to Decision Making: A Survey on Diffusion Model-Enabled Deep Reinforcement Learning for Wireless Networkscited by 0
  29. 2026Co-policy: Responsive Human-Robot Co-Creation for Musical Performancescited by 0
  30. 2026DiDrive: A Risk-Aware Hierarchical Diffusion Framework for Safe Offline Reinforcement Learning in Autonomous Drivingcited by 0