Techniques regarding autonomous generation of one or more sets of diverse plans are provided. For example, one or more embodiments described herein can comprise a system, which can comprise a memory that can store computer executable components. The system can also comprise a processor, operably coupled to the memory, and that can execute the computer executable components stored in the memory. The computer executable components can comprise a planner component, operably coupled to the processor, that can generate a first plan based on a planning task. The computer executable components can also comprise a modification component, operably coupled to the processor, that can generate a modification to the planning task to facilitate generation of a second plan by the planner component. The second plan can be a variant of the first plan.