FlockDiffusion: Assignment-Conditioned Diffusion for Multi-Drone Task Allocation and Completion

arXiv:2609.23745 · cs.RO · Submitted 2026-09-20 · Read on arXiv

cs.RO

Submitted: 2026-09-20

Updated: 2026-09-20

Terminology

• Reinforcement Learning — 15× in this paper · explained in 4 episodes
• Diffusion Model — 10× in this paper · explained in 8 episodes
• Transformer — 9× in this paper · explained in 2 episodes
• Actor — 8× in this paper · explained in 3 episodes
• Ablation — 7× in this paper · explained in 1 episode
• Diffusion Models — 6× in this paper · explained in 6 episodes
• Benchmark — 4× in this paper · explained in 2 episodes
• Proximal Policy Optimization — 3× in this paper
• Ablation study — 2× in this paper · explained in 1 episode
• Allocator — 2× in this paper · explained in 1 episode
• Centralized Training with Decentralized Execution — 2× in this paper
• Combinatorial Optimization — 2× in this paper · explained in 2 episodes
• Deep Reinforcement Learning — 2× in this paper · explained in 2 episodes
• Embeddings — 2× in this paper · explained in 2 episodes
• Action Space — 1× in this paper · explained in 1 episode
• Graph Neural Network (GNN) — 1× in this paper · explained in 3 episodes
• Heterogeneous Graph — 1× in this paper · explained in 2 episodes
• Intelligent Vehicles Symposium — 1× in this paper
• Point Clouds — 1× in this paper · explained in 2 episodes
• Proximal Policy Optimization (PPO) — 1× in this paper · explained in 5 episodes

Sources

• HIPPO-MAT: Decentralized Task Allocation Using GraphSAGE and Multi-Agent Deep Reinforcement Learning
• Denoising Diffusion Implicit Models
• Planning with Diffusion for Flexible Behavior Synthesis
• DiffusionRL: Efficient Training of Diffusion Policies for Robotic Grasping Using RL-Adapted Large-Scale Datasets
• X-Sim: Cross-Embodiment Learning via Real-to-Sim-to-Real

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