HDFlow pairs a high-level diffusion planner for strategic subgoals with a low-level rectified flow planner for efficient trajectories, claiming superior performance on furniture assembly and other long-horizon robotic benchmarks.
12 HDFlow: Hierarchical Diffusion-Flow Planning for Long-horizon Tasks Shridhar, M., Manuelli, L., and Fox, D
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HDFlow: Hierarchical Diffusion-Flow Planning for Long-horizon Tasks
HDFlow pairs a high-level diffusion planner for strategic subgoals with a low-level rectified flow planner for efficient trajectories, claiming superior performance on furniture assembly and other long-horizon robotic benchmarks.