ChronoForest: Closed-Loop Multi-Tree Diffusion Planning for Efficient Bridge Search and Route Composition
How can we plan long-horizon routes that reach designated goals, visit required waypoints, and remain short when only short-horizon offline trajectories are available? This problem matters in offline navigation because collecting sufficiently rich long-horizon data is difficult, yet real agents must still solve long-range tasks with route-level efficiency rather than mere feasibility. The difficulty is twofold: at the microscopic level, composing many short-horizon segments creates a trade-off between search cost and path quality, while at the macroscopic level, waypoint ordering requires comparing pairwise travel costs among start, goal, and waypoint anchors that are unknown before plann...
| Authors | Jungmin Seo, Jaesik Park |
|---|---|
| Primary category | cs.RO |
| Published | 4 June 2026 |
| Last updated at source | 4 June 2026 |
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