Author

C. L. P. Chen

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#artificial intelligence Preprint Sep 2026

Diffusion Subgoal Planning for Long-Horizon Offline Goal-Conditioned Reinforcement Learning

DSP casts high-level planning as guided generative inference over goal-conditioned subgoals and learns both conditional and unconditional flows, enabling classifier-free guidance to introduce a goal-directed bias at inference time.

Heng-Rui Zhang, Yu-Hu Cheng, C. L. Philip Chen et al. · 3 citations

Review Aug 2026

Learning-Based Motion Planning for Dynamic Environments: From Foundational Algorithms to Emerging Paradigms

A role-of-learning taxonomy is proposed that categorizes existing methods according to how learning participates in the planning pipeline, including direct policy learning, learning-augmented classical planning, hybrid planning, and training enhancement methods.

Zong-Yuan Shen, Shalabh Gupta, Shan-Cheng Zhao et al. · 1 citation