@article{planfirstdiffuselaterextrinsicgraphguida,
  title = {Plan First, Diffuse Later: Extrinsic Graph Guidance for Long-Horizon Diffusion Planning},
  author = {Yaniv Hassidof and Adir Morgan and Yilun Du and Kiril Solovey},
  year = {2026},
  eprint = {2605.16863},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2605.16863},
}