Model-Based Diffusion Optimal Control for Multi-Robot Motion Planning
MDOC is a model-based diffusion planner that generates dynamically feasible, collision-free trajectories for multiple robots without needing demonstration data. It achieves this by analytically estimating diffusion scores using Monte Carlo score ascent under a known dynamics model and enforces safety constraints through Control Barrier Functions (CBF) directly within the planning rollouts. This method scales to multi-robot planning via Conflict-Based Search.