AI RESEARCH
Refining Compositional Diffusion for Reliable Long-Horizon Planning
arXiv CS.LG
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ArXi:2605.03075v1 Announce Type: cross Compositional diffusion planning generates long-horizon trajectories by stitching together overlapping short-horizon segments through score composition. However, when local plan distributions are multimodal, existing compositional methods suffer from mode-averaging, where averaging incompatible local modes leads to plans that are neither locally feasible nor globally coherent. We propose Refining Compositional Diffusion (RCD), a