# GenPlanner: From Noise to Plans -- Emergent Reasoning in Flow Matching and Diffusion Models

arXiv: https://arxiv.org/abs/2602.18812 · HTML: https://mlsanity.com/paper/2602.18812/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Placed in Diffusion and flow policies for robotics, one of 14 directions in Diffusion models.
- Builds on 18 of its 21 references that are in the map.
- First posted on arXiv 21 Feb 2026.

## Placed in

- Diffusion models / [Diffusion and flow policies for robotics](https://mlsanity.com/diffusion/diffusion-and-flow-policies-for-robotics/)

## Builds on (most cited first, 18 of 18)

- [Denoising Diffusion Probabilistic Models](https://mlsanity.com/paper/2006.11239/) (2020)
- [Denoising Diffusion Implicit Models](https://mlsanity.com/paper/2010.02502/) (2020)
- [SDXL: Improving Latent Diffusion Models for High-Resolution Image Synthesis](https://mlsanity.com/paper/2307.01952/) (2023)
- [ZebraLogic: On the Scaling Limits of LLMs for Logical Reasoning](https://mlsanity.com/paper/2502.01100/) (2025)
- [DynaMath: A Dynamic Visual Benchmark for Evaluating Mathematical Reasoning Robustness of Vision Language Models](https://mlsanity.com/paper/2411.00836/) (2024)
- [VisuLogic: A Benchmark for Evaluating Visual Reasoning in Multi-modal Large Language Models](https://mlsanity.com/paper/2504.15279/) (2025)
- [PARTNR: A Benchmark for Planning and Reasoning in Embodied Multi-agent Tasks](https://mlsanity.com/paper/2411.00081/) (2024)
- [PuzzleVQA: Diagnosing Multimodal Reasoning Challenges of Language Models with Abstract Visual Patterns](https://mlsanity.com/paper/2403.13315/) (2024)
- [Enigmata: Scaling Logical Reasoning in Large Language Models with Synthetic Verifiable Puzzles](https://mlsanity.com/paper/2505.19914/) (2025)
- [Simultaneous Multi-Robot Motion Planning with Projected Diffusion Models](https://mlsanity.com/paper/2502.03607/) (2025)
- [What Makes a Good Diffusion Planner for Decision Making?](https://mlsanity.com/paper/2503.00535/) (2025)
- [RoboCerebra: A Large-scale Benchmark for Long-horizon Robotic Manipulation Evaluation](https://mlsanity.com/paper/2506.06677/) (2025)
- [SATBench: Benchmarking LLMs' Logical Reasoning via Automated Puzzle Generation from SAT Formulas](https://mlsanity.com/paper/2505.14615/) (2025)
- [Divide and Translate: Compositional First-Order Logic Translation and Verification for Complex Logical Reasoning](https://mlsanity.com/paper/2410.08047/) (2024)
- [WOMD-Reasoning: A Large-Scale Dataset for Interaction Reasoning in Driving](https://mlsanity.com/paper/2407.04281/) (2024)
- [Reasoning Limitations of Multimodal Large Language Models. A Case Study of Bongard Problems](https://mlsanity.com/paper/2411.01173/) (2024)
- [Learning Admissible Heuristics for A*: Theory and Practice](https://mlsanity.com/paper/2509.22626/) (2025)
- [A Unified View of Abstract Visual Reasoning Problems](https://mlsanity.com/paper/2406.11068/) (2024)

## Abstract (arXiv)

Path planning in complex environments is one of the key problems of artificial intelligence because it requires simultaneous understanding of the geometry of space and the global structure of the problem. In this paper, we explore the potential of using generative models as planning and reasoning mechanisms. We propose GenPlanner, an approach based on diffusion models and flow matching, along with two variants: DiffPlanner and FlowPlanner. We demonstrate the application of generative models to find and generate correct paths in mazes. A multi-channel condition describing the structure of the environment, including an obstacle map and information about the starting and destination points, is used to condition trajectory generation. Unlike standard methods, our models generate trajectories iteratively, starting with random noise and gradually transforming it into a correct solution. Experiments conducted show that the proposed approach significantly outperforms the baseline CNN model. In particular, FlowPlanner demonstrates high performance even with a limited number of generation steps.