Plan First, Diffuse Later: Extrinsic Graph Guidance for Long-Horizon Diffusion Planning
Compositional diffusion models offer a promising route to long-horizon planning by denoising multiple overlapping sub-trajectories while ensuring that together they constitute a global solution. However, enforcing local behavior over long chains is often insufficient for a coherent global structure to emerge. Recent works tackle this limitation through intrinsic search, which explores multiple paths during the denoising process. While intrinsic search improves global coherence, it comes at the cost of repeated evaluations of an already compute-heavy model. In this work, we argue that extrinsic search, performed outside the denoising process, offers a more effective mode of exploration for...
| Authors | Yaniv Hassidof, Adir Morgan, Yilun Du et al. |
|---|---|
| Primary category | cs.RO |
| Published | 16 May 2026 |
| Last updated at source | 16 May 2026 |
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