Pith Number

pith:PBNCXZFN

pith:2026:PBNCXZFNT53MX3LCVHNLLK3R73

not attested not anchored not stored refs pending

HDFlow: Hierarchical Diffusion-Flow Planning for Long-horizon Tasks

Chaoyi Xu, He Wang, Nandiraju Gireesh, Weiheng Liu, Yuanliang Ju, Yuxuan Wan

HDFlow uses a high-level diffusion planner to generate subgoals in latent space and a low-level rectified flow planner to produce trajectories for long-horizon robotic tasks.

arxiv:2605.04525 v2 · 2026-05-06 · cs.RO

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\usepackage{pith}
\pithnumber{PBNCXZFNT53MX3LCVHNLLK3R73}

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Record completeness

1 Bitcoin timestamp

2 Internet Archive

3 Author claim open · sign in to claim

4 Citations open

5 Replications open

✓ Portable graph bundle live · download bundle · merged state

The bundle contains the canonical record plus signed events. A mirror can host it anywhere and recompute the same current state with the deterministic merge algorithm.

Claims

C1strongest claim

HDFlow significantly outperforms state-of-the-art methods on four challenging furniture assembly tasks in both simulation and real-world, and generalizes to two long-horizon benchmarks comprising diverse locomotion and manipulation tasks.

C2weakest assumption

That the learned latent space and subgoal conditioning allow the low-level rectified flow planner to generate feasible trajectories without additional feasibility checks or recovery mechanisms when high-level subgoals are unreachable.

C3one line summary

HDFlow pairs a high-level diffusion planner for subgoals with a low-level rectified flow planner for trajectories, outperforming prior methods on furniture assembly and locomotion-manipulation benchmarks.

Receipt and verification

First computed	2026-05-20T01:05:15.335014Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

785a2be4ad9f76cbed62a9dab5ab71fef58187e6f2e1c55199e7d3ea91802d5a

Aliases

arxiv: 2605.04525 · arxiv_version: 2605.04525v2 · doi: 10.48550/arxiv.2605.04525 · pith_short_12: PBNCXZFNT53M · pith_short_16: PBNCXZFNT53MX3LC · pith_short_8: PBNCXZFN

Agent API

Resolver JSON Graph JSON Events JSON Schema Signing key

Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/PBNCXZFNT53MX3LCVHNLLK3R73 \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: 785a2be4ad9f76cbed62a9dab5ab71fef58187e6f2e1c55199e7d3ea91802d5a

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "8fd36ec0a49ef150bb7e724326261bbd9c00f100f006e9ccd685d519a2360bc1",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-05-06T06:08:51Z",
    "title_canon_sha256": "4d459cb006cdea9485f75b3dcd1a08621693d98b09e2612232a91968a1af5e4b"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2605.04525",
    "kind": "arxiv",
    "version": 2
  }
}