@article{modelbaseddiffusionoptimalcontrolformult,
  title = {Model-Based Diffusion Optimal Control for Multi-Robot Motion Planning},
  author = {Zhilin He and Yorai Shaoul and Jiaoyang Li},
  year = {2026},
  eprint = {2607.12423},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2607.12423},
}