HDFlow pairs a high-level diffusion planner for strategic subgoals with a low-level rectified flow planner for efficient trajectories, claiming superior performance on furniture assembly and other long-horizon robotic benchmarks.
This is achieved by combining classifier-free guidance for the conditional termp(z|c) and EBM guidance for the success termp(y= 1|z, c), as detailed in Proof A.3
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HDFlow: Hierarchical Diffusion-Flow Planning for Long-horizon Tasks
HDFlow pairs a high-level diffusion planner for strategic subgoals with a low-level rectified flow planner for efficient trajectories, claiming superior performance on furniture assembly and other long-horizon robotic benchmarks.