SwarmDiffusion: End-To-End Traversability-Guided Diffusion for Embodiment-Agnostic Navigation of Heterogeneous Robots

Description

Visual traversability estimation is critical for autonomous navigation, but existing VLM-based methods rely on hand-crafted prompts, generalize poorly across embodiments, and output only traversability maps, leaving trajectory generation to slow external planners. We propose SwarmDiffusion, a lightweight end-to-end diffusion model that jointly predicts traversability and generates a feasible trajectory from a single RGB image. To remove the need for annotated or planner-produced paths, we introd

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