@article{motionplanningwithmodelbaseddiffusionvia,
  title = {Motion Planning with Model-Based Diffusion via Constraint Optimization and Adaptive Scheduling},
  author = {Zhilin He and Bowei Li and Jianlin Dou and Yuner Zhang and Changliu Liu},
  year = {2026},
  eprint = {2607.14455},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2607.14455},
}