XDiffuser combines extrinsic graph planning with diffusion models to guide denoising and improve performance on long-horizon robotic tasks including multi-agent coordination and TSP-style problems.
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Plan First, Diffuse Later: Extrinsic Graph Guidance for Long-Horizon Diffusion Planning
XDiffuser combines extrinsic graph planning with diffusion models to guide denoising and improve performance on long-horizon robotic tasks including multi-agent coordination and TSP-style problems.