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SmellDiffusion: Diffusion-Based Quadruped Navigation with Olfactory Scene Graphs

arXiv · AI, language, vision and robotics · article · Sep 17, 2026 · UTC

A robot sent to a named gas leak must preserve gas identity, estimate the source, and navigate to the resulting goal. We present SmellDiffusion, a simulation pipeline that represents species-specific gas zones in an open-vocabulary olfactory scene graph and shares the selected goal between classical and diffusion planners. Its key components are a peak-local geometric gate for selective source correction and diffusion-based, gas-guided trajectory generation. Among 424 unique source-wind configurations in solved flow, 28 have a concentration peak displaced more than 0.5m from the source. A sour

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