Plan First, Diffuse Later: Extrinsic Graph Guidance for Long-Horizon Diffusion Planning

In three linesXDiffuser combines state-space graph planning with diffusion to improve long-horizon planning. The model first computes a classical plan serving as a lightweight connectivity oracle, then uses it to guide denoising of a single trajectory. Outperforms diffusion baselines on long-horizon tasks, multi-agent coordination, and TSP-style reasoning.

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