Akule: Fast and Scalable Multi-Robot Motion Planning via Sparse Interaction Diffusion

cs.RO, cs.AI, cs.MA

Submitted: 2026-10-09

Updated: 2026-10-09

Comments: Project website: https://akule-diff.github.io/

Project page: https://akule-diff.github.io/Keywords

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Sources

• Distributed Model-Based Diffusion For Scalable Multi-Robot Trajectory Optimization
• InterAgent: Physics-based Multi-agent Command Execution via Diffusion on Interaction Graphs
• Discrete-Guided Diffusion for Scalable and Safe Multi-Robot Motion Planning
• Simulation-Informed Diffusion for Decentralized Multi-robot Motion Planning
• Factored Diffusion Policies:Compositionally Generalized Robot Control with a Single Score Network

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