{"ID":2873206,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2509.08160","arxiv_id":"2509.08160","title":"Diffusion-Guided Multi-Arm Motion Planning","abstract":"Multi-arm motion planning is fundamental for enabling arms to complete complex long-horizon tasks in shared spaces efficiently but current methods struggle with scalability due to exponential state-space growth and reliance on large training datasets for learned models. Inspired by Multi-Agent Path Finding (MAPF), which decomposes planning into single-agent problems coupled with collision resolution, we propose a novel diffusion-guided multi-arm planner (DG-MAP) that enhances scalability of learning-based models while reducing their reliance on massive multi-arm datasets. Recognizing that collisions are primarily pairwise, we train two conditional diffusion models, one to generate feasible single-arm trajectories, and a second, to model the dual-arm dynamics required for effective pairwise collision resolution. By integrating these specialized generative models within a MAPF-inspired structured decomposition, our planner efficiently scales to larger number of arms. Evaluations against alternative learning-based methods across various team sizes demonstrate our method's effectiveness and practical applicability. Project website can be found at https://diff-mapf-mers.csail.mit.edu","short_abstract":"Multi-arm motion planning is fundamental for enabling arms to complete complex long-horizon tasks in shared spaces efficiently but current methods struggle with scalability due to exponential state-space growth and reliance on large training datasets for learned models. Inspired by Multi-Agent Path Finding (MAPF), whic...","url_abs":"https://arxiv.org/abs/2509.08160","url_pdf":"https://arxiv.org/pdf/2509.08160v1","authors":"[\"Viraj Parimi\",\"Brian C. Williams\"]","published":"2025-09-09T21:41:23Z","proceeding":"cs.RO","tasks":"[\"cs.RO\",\"cs.AI\",\"cs.MA\"]","methods":"[\"Diffusion Model\"]","project_urls":"[\"https://diff-mapf-mers.csail.mit.edu\"]","has_code":false,"code_links":[{"ID":610030,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_id":2873206,"paper_url":"https://arxiv.org/abs/2509.08160","paper_title":"Diffusion-Guided Multi-Arm Motion Planning","repo_url":"https://github.com/virajparimi/diff-mapf","is_official":false,"mentioned_in_paper":false,"mentioned_in_github":true,"github_stars":0},{"ID":610031,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_id":2873206,"paper_url":"https://arxiv.org/abs/2509.08160","paper_title":"Diffusion-Guided Multi-Arm Motion Planning","repo_url":"https://github.com/eliahuhorwitz/Academic-project-page-template","is_official":false,"mentioned_in_paper":false,"mentioned_in_github":true,"github_stars":0}]}