拡散モデル誘導RRTのためのHグラフハイブリダイゼーション最適化

原文アブストラクト

Sampling-based motion planners guided by diffusion models produce high-quality trajectories in a single run, yet the stochastic diversity available at inference time is left largely unexploited. We present two inference-time diversification strategies for a fixed, pretrained DiTree model, combined via H-Graph hybridization, and evaluate them on a holonomic AntMaze robot across 15 maze scenarios. The first, factorial diversity, sweeps the random seed and Diffusion Goal Bias (DGB) parameter, the second, refinement-only diversity, sweeps the diffusion refinement strength (RS) that controls how much an RRT-generated trajectory is edited. Because a single-run baseline only partially succeeds, we additionally compare H-Graph results with pool-based statistics. H-Graph improves the mean pool length of the factorial and refinement-only diversities by 18.8% and 14.5%, respectively. In addition, it also improves the best individual candidate's lengths by 9.7% and 6.8%, respectively. And last, compared with the successful baseline's trajectory length, it improves the results by 18.2% and 19.9%, respectively. These results show that inference-time parameter variation is a reliable, training-free source of path diversity, and that H-Graph hybridization reliably converts this diversity into shorter, higher quality trajectories.