mlsanityData to 7 Oct 2026

CHD: Coupled Hierarchical Diffusion for Long-Horizon Tasks

arXiv 2505.07261 ↗First posted 12 May 2025cs.RO cs.AIcited by 6

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Abstract (arXiv)

Diffusion-based planners have shown strong performance in short-horizon tasks but often fail in complex, long-horizon settings. We trace the failure to loose coupling between high-level (HL) sub-goal selection and low-level (LL) trajectory generation, which leads to incoherent plans and degraded performance. We propose Coupled Hierarchical Diffusion (CHD), a framework that models HL sub-goals and LL trajectories jointly within a unified diffusion process. A shared classifier passes LL feedback upstream so that sub-goals self-correct while sampling proceeds. This tight HL-LL coupling improves trajectory coherence and enables scalable long-horizon diffusion planning. Experiments across maze navigation, tabletop manipulation, and household environments show that CHD consistently outperforms both flat and hierarchical diffusion baselines. Our website is: https://sites.google.com/view/chd2025/home

Key facts. Cited by 6 papers in the map (data through 7 Oct 2026). Builds on 57 of its 68 references that are in the map. First posted on arXiv 12 May 2025.

Builds on

57 of 68 references.

References · 57

  1. 2020Denoising Diffusion Probabilistic Modelscited by 20,851
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  3. 2023Segment Anythingcited by 8,158
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  5. 2022Video Diffusion Modelscited by 2,280
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  10. 2023VoxPoser: Composable 3D Value Maps for Robotic Manipulation with Language Modelscited by 733
  11. 2022Diffusion Policies as an Expressive Policy Class for Offline Reinforcement Learningcited by 543
  12. 2022Is Conditional Generative Modeling all you need for Decision-Making?cited by 504
38 more
  1. 2018Reinforcement Learning and Control as Probabilistic Inference: Tutorial and Reviewcited by 466
  2. 2022Analog Bits: Generating Discrete Data using Diffusion Models with Self-Conditioningcited by 362
  3. 2023Scaling Open-Vocabulary Object Detectioncited by 335
  4. 2023IDQL: Implicit Q-Learning as an Actor-Critic Method with Diffusion Policiescited by 307
  5. 2024ReKep: Spatio-Temporal Reasoning of Relational Keypoint Constraints for Robotic Manipulationcited by 305
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  7. 2020Integrated Task and Motion Planningcited by 281
  8. 20243D Diffuser Actor: Policy Diffusion with 3D Scene Representationscited by 278
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  10. 2023Diffusion-based Generation, Optimization, and Planning in 3D Scenescited by 237
  11. 2021Contact-GraspNet: Efficient 6-DoF Grasp Generation in Cluttered Scenescited by 213
  12. 2023Scaling Up and Distilling Down: Language-Guided Robot Skill Acquisitioncited by 156
  13. 2023Motion Planning Diffusion: Learning and Planning of Robot Motions with Diffusion Modelscited by 155
  14. 2018PDDLStream: Integrating Symbolic Planners and Blackbox Samplers via Optimistic Adaptive Planningcited by 147
  15. 2019Planning with Goal-Conditioned Policiescited by 144
  16. 2023Learning a Diffusion Model Policy from Rewards via Q-Score Matchingcited by 126
  17. 2024Unlocking Guidance for Discrete State-Space Diffusion and Flow Modelscited by 124
  18. 2023Diffusion Model is an Effective Planner and Data Synthesizer for Multi-Task Reinforcement Learningcited by 114
  19. 2023Diffusion Models for Reinforcement Learning: A Surveycited by 84
  20. 2024Diffusion Actor-Critic with Entropy Regulatorcited by 81
  21. 2024Simple Hierarchical Planning with Diffusioncited by 71
  22. 2023SafeDiffuser: Safe Planning with Diffusion Probabilistic Modelscited by 69
  23. 2023SkillDiffuser: Interpretable Hierarchical Planning via Skill Abstractions in Diffusion-Based Task Executioncited by 69
  24. 2020Long-Horizon Visual Planning with Goal-Conditioned Hierarchical Predictorscited by 60
  25. 2024Guiding Long-Horizon Task and Motion Planning with Vision Language Modelscited by 46
  26. 2023Diffusion Policies for Out-of-Distribution Generalization in Offline Reinforcement Learningcited by 40
  27. 2024DiffuserLite: Towards Real-time Diffusion Planningcited by 40
  28. 2024Potential Based Diffusion Motion Planningcited by 40
  29. 2024Deep Generative Models in Robotics: A Survey on Learning from Multimodal Demonstrationscited by 35
  30. 2024DNAct: Diffusion Guided Multi-Task 3D Policy Learningcited by 22
  31. 2024Repetition Neurons: How Do Language Models Produce Repetitions?cited by 22
  32. 2024Stitching Sub-Trajectories with Conditional Diffusion Model for Goal-Conditioned Offline RLcited by 20
  33. 2022Sequence-Based Plan Feasibility Prediction for Efficient Task and Motion Planningcited by 19
  34. 2024A Survey of Optimization-based Task and Motion Planning: From Classical To Learning Approachescited by 19
  35. 2024Mitigating the Language Mismatch and Repetition Issues in LLM-based Machine Translation via Model Editingcited by 18
  36. 2024Subgoal Diffuser: Coarse-to-fine Subgoal Generation to Guide Model Predictive Control for Robot Manipulationcited by 10
  37. 2023Planning as In-Painting: A Diffusion-Based Embodied Task Planning Framework for Environments under Uncertaintycited by 8
  38. 2024DISCO: Language-Guided Manipulation with Diffusion Policies and Constrained Inpaintingcited by 8

50 most cited of 57 All 57 (JSON)

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2025: 3; 2026: 3.

6 papers.

  1. 2025Reinforcement Learning for Flow-Matching Policiescited by 14
  2. 2025Projected Coupled Diffusion for Test-Time Constrained Joint Generationcited by 6
  3. 2025Hybrid Diffusion for Simultaneous Symbolic and Continuous Planningcited by 6
  4. 2026HDFlow: Hierarchical Diffusion-Flow Planning for Long-horizon Taskscited by 2
  5. 2026Inference-Time Attribute Distribution Alignment for Unconditional Diffusioncited by 2
  6. 2026Trace-Focused Diffusion Policy for Multi-Modal Action Disambiguation in Long-Horizon Robotic Manipulationcited by 0