Figure 1: TDP solves a variety of zero-shot planning problems.

Tree-Guided Diffusion Planner
Hyeonseong Jeon, Cheolhong Min, Jaesik Park
NeurIPS 2025
Project page / arXiv / BibTex

This repository is organized into three separate sub-branches for each task:

• Maze2D Gold Picking: maze2d branch
• KUKA Robot Arm manipulation: kuka branch
• AntMaze Multi-goal Exploration: antmaze branch

If you find TDP helpful, please consider citing:

@article{jeon2025tree,
  title={Tree-Guided Diffusion Planner},
  author={Jeon, Hyeonseong and Min, Cheolhong and Park, Jaesik},
  journal={arXiv preprint arXiv:2508.21800},
  year={2025}
}

This codebase is built upon the foundations of Diffuser, TAT and CleanDiffuser.