{"id":"https://openalex.org/W7160494682","doi":"https://doi.org/10.48550/arxiv.2605.04525","title":"HDFlow: Hierarchical Diffusion-Flow Planning for Long-horizon Tasks","display_name":"HDFlow: Hierarchical Diffusion-Flow Planning for Long-horizon Tasks","publication_year":2026,"publication_date":"2026-05-06","ids":{"openalex":"https://openalex.org/W7160494682","doi":"https://doi.org/10.48550/arxiv.2605.04525"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2605.04525","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.04525","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2605.04525","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5051376251","display_name":"Nandiraju Gireesh","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Gireesh, Nandiraju","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023580129","display_name":"Yunpeng Ju","orcid":"https://orcid.org/0009-0001-1706-0144"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ju, Yuanliang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135553208","display_name":"Chaoyi Xu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Xu, Chaoyi","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135579170","display_name":"Weiheng Liu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Weiheng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5135622797","display_name":"Yuxuan Wan","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wan, Yuxuan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5135547242","display_name":"He Wang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Wang, He","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.4212999939918518,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.4212999939918518,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10775","display_name":"Generative Adversarial Networks and Image Synthesis","score":0.14659999310970306,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11574","display_name":"Artificial Intelligence in Games","score":0.09030000120401382,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.5763999819755554},{"id":"https://openalex.org/keywords/generalizability-theory","display_name":"Generalizability theory","score":0.5630999803543091},{"id":"https://openalex.org/keywords/benchmark","display_name":"Benchmark (surveying)","score":0.45559999346733093},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.45339998602867126},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.4422999918460846},{"id":"https://openalex.org/keywords/generative-model","display_name":"Generative model","score":0.41609999537467957},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.4106000065803528},{"id":"https://openalex.org/keywords/decomposition","display_name":"Decomposition","score":0.40220001339912415}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7468000054359436},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.5763999819755554},{"id":"https://openalex.org/C27158222","wikidata":"https://www.wikidata.org/wiki/Q5532422","display_name":"Generalizability theory","level":2,"score":0.5630999803543091},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5123999714851379},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.4952000081539154},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.45559999346733093},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.45339998602867126},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.4422999918460846},{"id":"https://openalex.org/C167966045","wikidata":"https://www.wikidata.org/wiki/Q5532625","display_name":"Generative model","level":3,"score":0.41609999537467957},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.4106000065803528},{"id":"https://openalex.org/C124681953","wikidata":"https://www.wikidata.org/wiki/Q339062","display_name":"Decomposition","level":2,"score":0.40220001339912415},{"id":"https://openalex.org/C39890363","wikidata":"https://www.wikidata.org/wiki/Q36108","display_name":"Generative grammar","level":2,"score":0.4009999930858612},{"id":"https://openalex.org/C144986985","wikidata":"https://www.wikidata.org/wiki/Q871236","display_name":"Hierarchical database model","level":2,"score":0.3971000015735626},{"id":"https://openalex.org/C12713177","wikidata":"https://www.wikidata.org/wiki/Q1900281","display_name":"Perspective (graphical)","level":2,"score":0.33640000224113464},{"id":"https://openalex.org/C38349280","wikidata":"https://www.wikidata.org/wiki/Q1434290","display_name":"Flow (mathematics)","level":2,"score":0.33480000495910645},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.32600000500679016},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.31380000710487366},{"id":"https://openalex.org/C37736160","wikidata":"https://www.wikidata.org/wiki/Q1801315","display_name":"Adversarial system","level":2,"score":0.3025999963283539},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.29789999127388},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.28299999237060547},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.26969999074935913},{"id":"https://openalex.org/C25810664","wikidata":"https://www.wikidata.org/wiki/Q44325","display_name":"Ontology","level":2,"score":0.25440001487731934},{"id":"https://openalex.org/C170477896","wikidata":"https://www.wikidata.org/wiki/Q17039022","display_name":"Ideation","level":2,"score":0.2502000033855438}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2605.04525","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.04525","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2605.04525","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2605.04525","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Recent":[0],"advances":[1],"in":[2,8,92,139],"generative":[3,78],"models":[4,71],"have":[5,20],"shown":[6],"promise":[7],"generating":[9],"behavior":[10],"plans":[11],"for":[12,30],"long-horizon,":[13],"sparse":[14],"reward":[15],"tasks.":[16,166],"While":[17],"these":[18],"approaches":[19],"achieved":[21],"promising":[22],"results,":[23],"they":[24],"often":[25],"lack":[26],"a":[27,56,82,93,107],"principled":[28],"framework":[29,60],"hierarchical":[31,58],"decomposition":[32],"and":[33,68,115,121,142,164],"struggle":[34],"with":[35],"the":[36,64,74,119],"computational":[37],"demands":[38],"of":[39,66,76,89,123],"real-time":[40],"execution,":[41],"due":[42],"to":[43,72,86],"their":[44],"iterative":[45],"denoising":[46],"process.":[47],"In":[48],"this":[49],"work,":[50],"we":[51,151],"introduce":[52],"Hierarchical":[53],"Diffusion-Flow":[54],"(HDFlow),":[55],"novel":[57],"planning":[59],"that":[61,112],"optimally":[62],"leverages":[63],"strengths":[65],"diffusion":[67,84],"rectified":[69,109],"flow":[70,110],"overcome":[73],"limitations":[75],"single-paradigm":[77],"planners.":[79],"HDFlow":[80,132],"employs":[81],"high-level":[83],"planner":[85,111],"generate":[87],"sequences":[88],"strategic":[90],"subgoals":[91,104],"learned":[94],"latent":[95],"space,":[96],"capitalizing":[97],"on":[98,133,157],"diffusion's":[99],"powerful":[100],"exploratory":[101],"capabilities.":[102],"These":[103],"then":[105],"guide":[106],"low-level":[108],"generates":[113],"smooth":[114],"dense":[116],"trajectories,":[117],"exploiting":[118],"speed":[120],"efficiency":[122],"ordinary":[124],"differential":[125],"equation":[126],"(ODE)-based":[127],"trajectory":[128],"generation.":[129],"We":[130],"evaluate":[131],"four":[134],"challenging":[135],"furniture":[136],"assembly":[137],"tasks":[138],"both":[140],"simulation":[141],"real-world,":[143],"where":[144],"it":[145],"significantly":[146],"outperforms":[147],"state-of-the-art":[148],"methods.":[149],"Furthermore,":[150],"also":[152],"showcase":[153],"our":[154],"method's":[155],"generalizability":[156],"two":[158],"long-horizon":[159],"benchmarks":[160],"comprising":[161],"diverse":[162],"locomotion":[163],"manipulation":[165],"Project":[167],"website:":[168],"https://hdflow-page.github.io/":[169]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-05-08T00:00:00"}
