mlsanityData to 7 Oct 2026

Multi-Robot Motion Planning with Diffusion Models

arXiv 2410.03072 ↗First posted 4 Oct 2024cs.RO cs.AI cs.MAcited by 37

On the map: Diffusion models → Diffusion and flow policies for robotics

Abstract (arXiv)

Diffusion models have recently been successfully applied to a wide range of robotics applications for learning complex multi-modal behaviors from data. However, prior works have mostly been confined to single-robot and small-scale environments due to the high sample complexity of learning multi-robot diffusion models. In this paper, we propose a method for generating collision-free multi-robot trajectories that conform to underlying data distributions while using only single-robot data. Our algorithm, Multi-robot Multi-model planning Diffusion (MMD), does so by combining learned diffusion models with classical search-based techniques -- generating data-driven motions under collision constraints. Scaling further, we show how to compose multiple diffusion models to plan in large environments where a single diffusion model fails to generalize well. We demonstrate the effectiveness of our approach in planning for dozens of robots in a variety of simulated scenarios motivated by logistics environments. View video demonstrations and code at: https://multi-robot-diffusion.github.io/.

Key facts. Cited by 37 papers in the map (data through 7 Oct 2026). Placed in Diffusion and flow policies for robotics, one of 14 directions in Diffusion models. Builds on 26 of its 44 references that are in the map. First posted on arXiv 4 Oct 2024.

Builds on

26 of 44 references.

Closest ancestors · 5

Same direction, newest first

  1. 2024Diffusion Model for Planning: A Systematic Literature Review16 Aug
  2. 2023Adaptive Online Replanning with Diffusion Models14 Oct
  3. 2023Generative Skill Chaining: Long-Horizon Skill Planning with Diffusion Models13 Oct
  4. 2023Motion Planning Diffusion: Learning and Planning of Robot Motions with Diffusion Models3 Aug
  5. 2023Diffusion Policy: Visuomotor Policy Learning via Action Diffusion7 Mar

Other references · 21

  1. 2020Denoising Diffusion Probabilistic Modelscited by 20,851
  2. 2020Score-Based Generative Modeling through Stochastic Differential Equationscited by 8,964
  3. 2015Deep Unsupervised Learning using Nonequilibrium Thermodynamicscited by 7,005
  4. 2022RePaint: Inpainting using Denoising Diffusion Probabilistic Modelscited by 1,419
  5. 2022Planning with Diffusion for Flexible Behavior Synthesiscited by 1,023
  6. 2023MotionDiffuser: Controllable Multi-Agent Motion Prediction using Diffusioncited by 210
  7. 2019Multi-Agent Pathfinding: Definitions, Variants, and Benchmarkscited by 197
  8. 2020EECBS: A Bounded-Suboptimal Search for Multi-Agent Path Findingcited by 67
  9. 2019Motion Planning Networks: Bridging the Gap Between Learning-based and Classical Motion Plannerscited by 62
  10. 2019Priority Inheritance with Backtracking for Iterative Multi-agent Path Findingcited by 55
  11. 2020Motion Planning and Control for Mobile Robot Navigation Using Machine Learning: a Surveycited by 48
  12. 2017Data-driven Planning via Imitation Learningcited by 36
9 more
  1. 2019Representation-Optimal Multi-Robot Motion Planning using Conflict-Based Searchcited by 16
  2. 2024Generative Factor Chaining: Coordinated Manipulation with Diffusion-based Factor Graphcited by 12
  3. 2013Finding a needle in an exponential haystack: Discrete RRT for exploration of implicit roadmaps in multi-robot motion planningcited by 11
  4. 2020Scalable and Safe Multi-Agent Motion Planning with Nonlinear Dynamics and Bounded Disturbancescited by 4
  5. 2022Distributing Collaborative Multi-Robot Planning with Gaussian Belief Propagationcited by 4
  6. 2023Conflict-Based Model Predictive Control for Scalable Multi-Robot Motion Planningcited by 4
  7. 2024Accelerating Search-Based Planning for Multi-Robot Manipulation by Leveraging Online-Generated Experiencescited by 4
  8. 2020CMAX++ : Leveraging Experience in Planning and Execution using Inaccurate Modelscited by 3
  9. 2024Unconstraining Multi-Robot Manipulation: Enabling Arbitrary Constraints in ECBS with Bounded Sub-Optimalitycited by 3

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2024: 1; 2025: 17; 2026: 19.

37 papers.

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  1. 2025Simultaneous Multi-Robot Motion Planning with Projected Diffusion Modelscited by 37
  2. 2025Discrete-Guided Diffusion for Scalable and Safe Multi-Robot Motion Planningcited by 10
  3. 2025Demystifying Diffusion Policies: Action Memorization and Simple Lookup Table Alternativescited by 9
  4. 2025Neuro-Symbolic Generative Diffusion Models for Physically Grounded, Robust, and Safe Generationcited by 9
  5. 2024Multi-Agent Path Finding in Continuous Spaces with Projected Diffusion Modelscited by 8
  6. 2025Local Manifold Approximation and Projection for Manifold-Aware Diffusion Planningcited by 8
  7. 2025Strictly Constrained Generative Modeling via Split Augmented Langevin Samplingcited by 6
  8. 2025Projected Coupled Diffusion for Test-Time Constrained Joint Generationcited by 6
  9. 2026Hierarchical Entity-centric Reinforcement Learning with Factored Subgoal Diffusioncited by 6
  10. 2025SwarmDiff: Swarm Robotic Trajectory Planning in Cluttered Environments via Diffusion Transformercited by 3
  11. 2025High-Performance Self-Supervised Learning by Joint Training of Flow Matchingcited by 3
  12. 2026Simulation-Informed Diffusion for Decentralized Multi-robot Motion Planningcited by 3
25 more
  1. 2025Navigating Motion Agents in Dynamic and Cluttered Environments through LLM Reasoningcited by 2
  2. 2025Diffusion-Guided Multi-Arm Motion Planningcited by 2
  3. 2026U-Mind: A Unified Framework for Real-Time Multimodal Interaction with Audiovisual Generationcited by 2
  4. 2026Compositional Visual Planning via Inference-Time Diffusion Scalingcited by 2
  5. 2026Refining Compositional Diffusion for Reliable Long-Horizon Planningcited by 2
  6. 2025Belief-Conditioned One-Step Diffusion: Real-Time Trajectory Planning with Just-Enough Sensingcited by 1
  7. 2025Risk-Bounded Multi-Agent Visual Navigation via Iterative Risk Allocationcited by 1
  8. 2025Scalable Multi Agent Diffusion Policies for Coverage Controlcited by 1
  9. 2026Discrete Diffusion for Complex and Congested Multi-Agent Path Finding with Sparse Social Attentioncited by 1
  10. 2026DiRecT: Safe Diffusion-Based Planning via Receding-Horizon Denoisingcited by 1
  11. 2025D4orm: Multi-Robot Trajectories with Dynamics-aware Diffusion Denoised Deformationscited by 0
  12. 2025Flow-Opt: Scalable Centralized Multi-Robot Trajectory Optimization with Flow Matching and Differentiable Optimizationcited by 0
  13. 2025Multi-Robot Motion Planning from Vision and Language using Heat-Inspired Diffusioncited by 0
  14. 2026Cost-Aware Diffusion Active Searchcited by 0
  15. 2026Train-Small Deploy-Large: Leveraging Diffusion-Based Multi-Robot Planningcited by 0
  16. 2026Muninn: Your Trajectory Diffusion Model But Fastercited by 0
  17. 2026Plan First, Diffuse Later: Extrinsic Graph Guidance for Long-Horizon Diffusion Planningcited by 0
  18. 2026Robots as Tokens: Unified Diffusion Transformer for Coordinated Multi-Robot Trajectory Generationcited by 0
  19. 2026DSIP: A Dynamic Coordination Planner for Signal-Free Intersections using Diffusion-Model-Based Multi-Agent Motion Planningcited by 0
  20. 2026ConFlow: Constraints-Guided Learning with Flow Matching for Motion Generationcited by 0
  21. 2026Generalizable Multi-Agent Planning from Signal Temporal Logic Specifications via Diffusioncited by 0
  22. 2026Denoising as Projection: Constrained Optimization with Gradient-Guided Diffusioncited by 0
  23. 2026Trajectory-Level Mode Guidance for Controllable Diffusion-Based Multi-Robot Motion Planningcited by 0
  24. 2026Multi-Agent Flow Matching with Decoupled Generative Guidancecited by 0
  25. 2026Training-Free Diffusion Planning with Analytical Local Scorescited by 0

Similar, not cited

Close in wording, no citation either way

  1. 2026Model-Based Diffusion Optimal Control for Multi-Robot Motion Planning
  2. 2024Motion Planning Diffusion: Learning and Adapting Robot Motion Planning with Diffusion Models
  3. 2024Model-Based Diffusion for Trajectory Optimization
  4. 2024LDP: A Local Diffusion Planner for Efficient Robot Navigation and Collision Avoidance
  5. 2026Motion Planning with Model-Based Diffusion via Constraint Optimization and Adaptive Scheduling
  6. 2025Joint Model-based Model-free Diffusion for Planning with Constraints
  7. 2025Cascaded Diffusion Models for Neural Motion Planning
  8. 2025Accelerated Multi-Modal Motion Planning Using Context-Conditioned Diffusion Models