Author

Yorai Shaoul

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Preprint Jul 2026

Model-Based Diffusion Optimal Control for Multi-Robot Motion Planning

This work introduces Model-Based Diffusion Optimal Control (MDOC), a model-based diffusion planner that efficiently produces dynamically feasible trajectories without relying on data, and shows that MDOC's safety mechanism naturally scales to multi-robot planning settings through Conflict-Based Search.

Zhilin He, Yorai Shaoul, Jiaoyang Li · 1 citation · ⚡1