Diffusion Trajectory Planning Diffusion Models

Tools for motion planning, trajectory optimization, and autonomous control using diffusion models. Includes applications to robotics, autonomous driving, and multi-agent coordination. Does NOT include general image/video generation or reinforcement learning without explicit trajectory planning focus.

There are 32 diffusion trajectory planning models tracked. The highest-rated is ZhengYinan-AIR/Diffusion-Planner at 49/100 with 897 stars. 1 of the top 10 are actively maintained.

Get all 32 projects as JSON

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#	Model	Score	Tier	Stars	Language
1	ZhengYinan-AIR/Diffusion-Planner [ICLR 2025 Oral] The official implementation of "Diffusion-Based Planning...	49	Emerging	897	Python
2	ZhengYinan-AIR/Hyper-Diffusion-Planner The official implementation of "Unleashing the Potential of Diffusion Models...	37	Emerging	72	Python
3	caio-freitas/GraphDiffusionImitate Diffusion-based graph generative policies for imitation learning in robotics tasks 🧠🤖	36	Emerging	6	Jupyter Notebook
4	intuitive-robots/MoDE_Diffusion_Policy [ICLR 25] Code for "Efficient Diffusion Transformer Policies with Mixture of...	36	Emerging	117	C++
5	LeCAR-Lab/model-based-diffusion Official implementation for the paper "Model-based Diffusion for Trajectory...	34	Emerging	330	Python
6	Whiterrrrr/BREEZE [NeurIPS 2025] The official implementation of "Towards Robust Zero-Shot...	34	Emerging	14	Python
7	Weixy21/SafeDiffuser Safe Planning with Diffusion Probabilistic Models	33	Emerging	66	Python
8	Lighten001/InterMoE The official implementation for InterMoE.	33	Emerging	13	Python
9	mbreuss/diffusion-literature-for-robotics Summary of key papers and blogs about diffusion models to learn about the...	32	Emerging	905	—
10	hsp-iit/HannesImitation HannesImitation is an imitation learning approach to control the Hannes...	32	Emerging	7	Jupyter Notebook
11	AI4Science-WestlakeU/diffphycon [NeurIPS2024] DiffPhyCon uses generative models to control complex physical systems	32	Emerging	47	Jupyter Notebook
12	sophtang/TR2-D2 Code for TR2-D2: Tree Search Guided Trajectory-Aware Fine-Tuning for...	30	Emerging	18	Python
13	intuitive-robots/beso [RSS 2023] Official code for "Goal Conditioned Imitation Learning using...	30	Emerging	89	Python
14	ankile/imitation-juicer Enabling robots to perform long-horizon dexterous tasks with imitation learning	27	Experimental	41	Jupyter Notebook
15	NVlabs/DRAIL [NeurIPS'24] The Official PyTorch implementation of DRAIL	27	Experimental	54	Python
16	Aalto-QuML/Diffusion_twigs [NeurIPS 2024] Diffusion Twigs with Loop Guidance for Conditional Graph Generation	25	Experimental	4	Python
17	georgosgeorgos/trajectory-alignment-diffusion Code for "Aligning Optimization Trajectories with Diffusion Models for...	24	Experimental	25	Python
18	aminabyaneh/contractive-diffusion-policy [ICLR'2026] Diffusion policies with contractive reverse diffusion process....	23	Experimental	1	Python
19	yingchengyang/ExDM Official implementation for "Exploratory Diffusion Model for Unsupervised...	23	Experimental	5	Python
20	HKUNLP/DiffuSearch [ICLR 2025] Code for the paper "Implicit Search via Discrete Diffusion: A...	22	Experimental	37	Python
21	ZhengYinan-AIR/FISOR [ICLR 2024] The official implementation of "Safe Offline Reinforcement...	22	Experimental	120	Python
22	Jushan-Randy-Chen/PAD-TRO Code implementation for the paper "Projection-Augmented Diffusion for Direct...	21	Experimental	2	Python
23	AI4Science-WestlakeU/safediffcon [ICML2025] SafeDiffCon is a diffusion model for safe PDE Control.	20	Experimental	12	Python
24	virajparimi/diff-mapf Diffusion-Guided Multi-Arm Motion Planning	19	Experimental	5	Python
25	aminabyaneh/multimodal-diffusion Simple and scalable real-world deployment of diffusion policies.	19	Experimental	—	Jupyter Notebook
26	SNU-VGILab/TDP [NeurIPS 2025] Code for "Tree-Guided Diffusion Planner"	18	Experimental	4	—
27	bit-bots/SoccerDiffusion Learning End-to-End Humanoid Robot Soccer from Gameplay Recordings	15	Experimental	6	Python
28	user683/DRGO [WWW'25]The official implementation of Distributionally Robust Graph...	15	Experimental	11	Python
29	aim-uofa/StaMo Unsupervised Learning of Generalizable Robot Motion from Compact State Representation	14	Experimental	35	Python
30	mengyuest/pSTL-diffusion-policy [RA-L/ICRA2025] Official implementation for paper "Diverse Controllable...	14	Experimental	34	Python
31	TianyuCodings/Diffusion_Trusted_Q_Learning [NeuIPS2024 DTQL] Diffusion Trusted Q-Learning for Offline RL — Official...	14	Experimental	23	Python
32	mbreuss/edm_diffusion_policy Minimal Repo to use the continuous-time Diffusion Policy from BESO	13	Experimental	5	Python

Comparisons in this category

Diffusion-Planner and Hyper-Diffusion-Planner (49 vs 37)