Author

Jeric Lew

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Preprint Aug 2026

Planner-Conditioned Diffusion for Coordinated Multi-Agent Exploration

A Planner-Conditioned Diffusion Policy (PCDP) is proposed, trained on demonstrations from multiple planner styles with planner identity as an explicit conditioning input, enabling a single shared model to learn a multimodal trajectory distribution and generate diverse, controllable trajectory candidates from the same o...

M. Teo, Jeric Lew, T. Duhan et al. · 0 citations