Denoising Multi-Robot Trajectories

arXiv:2609.35651 · cs.RO, cs.MA · Submitted 2026-09-28 · Read on arXiv

cs.RO, cs.MA

Submitted: 2026-09-28

Updated: 2026-09-28

Code: https://github.com/proroklab/d4orm

Terminology

• Diffusion Model — 16× in this paper · explained in 8 episodes
• Diffusion Models — 14× in this paper · explained in 6 episodes
• Decoupling — 9× in this paper · explained in 2 episodes
• Distribution Shift — 5× in this paper · explained in 6 episodes
• Generative Modeling — 4× in this paper · explained in 3 episodes
• Objective Function — 4× in this paper · explained in 2 episodes
• Core — 3× in this paper · explained in 2 episodes
• Generative Model — 3× in this paper · explained in 2 episodes
• Iterative Refinement — 3× in this paper · explained in 3 episodes
• Score Function — 3× in this paper · explained in 4 episodes
• Abstraction — 2× in this paper · explained in 1 episode
• Benchmark — 2× in this paper · explained in 2 episodes
• Computational overhead — 2× in this paper · explained in 2 episodes
• Generative Models — 2× in this paper · explained in 2 episodes
• Model Predictive Path Integral control (MPPI) — 2× in this paper · explained in 2 episodes
• Reward Function — 2× in this paper · explained in 2 episodes
• Robustness — 2× in this paper · explained in 5 episodes
• Adaptation — 1× in this paper · explained in 1 episode
• Alternating Minimization — 1× in this paper · explained in 1 episode
• Clustering — 1× in this paper · explained in 2 episodes
• Conflict-Based Search (CBS) — 1× in this paper · explained in 2 episodes
• Covariate Shift — 1× in this paper · explained in 2 episodes
• Curse of Dimensionality — 1× in this paper · explained in 6 episodes
• Latent Diffusion Model — 1× in this paper · explained in 2 episodes
• Latent Diffusion Models — 1× in this paper · explained in 2 episodes
• Resource Constraints — 1× in this paper · explained in 3 episodes

Sources

• MPPI-Generic: A CUDA Library for Stochastic Trajectory Optimization
• Discrete-Guided Diffusion for Scalable and Safe Multi-Robot Motion Planning

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