Structured-Diffuser: Diffusion with Task-Conditioned Structured Priors for Motion Planning

arXiv:2509.25685 · cs.RO · Submitted 2025-09-30 · Read on arXiv

cs.RO

Submitted: 2025-09-30

Updated: 2026-09-25

Project page: https://hta-diffusion.github.io

Terminology

• Diffusion Model — 19× in this paper · explained in 8 episodes
• Diffusion Models — 13× in this paper · explained in 6 episodes
• Gaussian Process Motion Planning — 6× in this paper
• Benchmark — 4× in this paper · explained in 2 episodes
• Consistency — 4× in this paper · explained in 3 episodes
• Ablation — 3× in this paper · explained in 1 episode
• Average Roughness — 3× in this paper
• Ablation Studies — 2× in this paper · explained in 1 episode
• Diffusion Process — 2× in this paper · explained in 2 episodes
• IEEE International Conference on Robotics and Automation — 2× in this paper
• Alignment — 1× in this paper · explained in 1 episode
• Clustering — 1× in this paper · explained in 2 episodes
• Generalization — 1× in this paper · explained in 13 episodes
• Generative Modeling — 1× in this paper · explained in 3 episodes
• Lyapunov function — 1× in this paper · explained in 2 episodes
• Rectified Flow — 1× in this paper · explained in 3 episodes
• Structural Constraints — 1× in this paper · explained in 2 episodes
• Temporal Correlations — 1× in this paper · explained in 2 episodes
• Trace — 1× in this paper · explained in 2 episodes
• World Model — 1× in this paper · explained in 7 episodes

Sources

• DDAT: Diffusion Policies Enforcing Dynamically Admissible Robot Trajectories
• Non Gaussian Denoising Diffusion Models
• Structured Diffusion Models with Mixture of Gaussians as Prior Distribution
• Controllable Motion Generation via Diffusion Modal Coupling

Related papers

• FMT x: An Efficient and Asymptotically Optimal Extension of the Fast Marching Tree for Dynamic Replanning
• MPCFormer: A physics-informed data-driven approach for explainable socially-aware autonomous driving
• RoboLab: A High-Fidelity Simulation Benchmark for Analysis of Task Generalist Policies
• HRDexDB: A 4D Dexterous Grasping Dataset Across Human and Multiple Robot Embodiments
• APT: Action Expert Pretraining Improves Instruction Generalization of Vision-Language-Action Policies
• Fine-tuning is Not Enough: A Parallel Framework for Collaborative Imitation and Reinforcement Learning in End-to-end Autonomous Driving