用离散路径引导生成模型，让百台机器人高效避障

Multi-Robot Motion Planning (MRMP) involves generating collision-free trajectories for multiple robots operating in a shared continuous workspace. While discrete multi-agent path finding (MAPF) methods are broadly adopted due to their scalability, their coarse discretization severely limits trajectory quality. In contrast, continuous optimization-based planners offer higher-quality paths but suffer from the curse of dimensionality, resulting in poor scalability with respect to the number of robots. This paper tackles the limitations of these two approaches by introducing a novel framework that integrates discrete MAPF solvers with constrained generative diffusion models. The resulting framework, called Discrete-Guided Diffusion (DGD), has three key characteristics: (1) it decomposes the original nonconvex MRMP problem into tractable subproblems with convex configuration spaces, (2) it combines discrete MAPF solutions with constrained optimization techniques to guide diffusion models capture complex spatiotemporal dependencies among robots, and (3) it incorporates a lightweight constraint repair mechanism to ensure trajectory feasibility. The proposed method sets a new state-of-the-art performance in large-scale, complex environments, scaling to 100 robots while achieving planning efficiency and high success rates.