Model-Based Diffusion Optimal Control Enables Efficient Multi-Robot Motion Planning Without Demonstrations

Jul 15, 2026

A new approach called Model-Based Diffusion Optimal Control (MDOC) is introduced for multi-robot motion planning. MDOC generates dynamically feasible, collision-free trajectories without relying on demonstration data by integrating known dynamics models with Control Barrier Function-constrained projections. The method scales to multi-robot scenarios using Conflict-Based Search and, in simulation experiments, outperforms baseline planners in sample efficiency, smoothness, and success rate.

Why it matters: This work demonstrates a significant advance in multi-robot motion planning by removing the need for demonstration data while rigorously enforcing dynamics and safety constraints, potentially enabling more scalable and reliable robot coordination.

Full story at: arXiv Robotics ↗