Research paper
SafeDiffuser · Constraints inside diffusion-based robot planning
The manuscript adds barrier-function constraints to diffusion planning and evaluates selected maze, locomotion and manipulation tasks. It is relevant to examining how a generative planner can respect an explicitly modeled constraint.
Reviewed 2026-11-04 · Source and bibliography checked
- Original title
- SafeDiffuser: Safe Planning with Diffusion Probabilistic Models
- Publisher
- arXiv
- Authors
- Wei Xiao, Tsun-Hsuan Wang, Chuang Gan, Daniela Rus
- DOI
- 10.48550/arXiv.2306.00148
- Publication date
- 2023-05-31
- Source language
- en
- Source country
- US
- Edition
- arXiv:2306.00148v1
- Access
- open_archive_metadata_and_manuscript
- Publication status
- Preprint
Source overview
The manuscript adds barrier-function constraints to diffusion planning and evaluates selected maze, locomotion and manipulation tasks. It is relevant to examining how a generative planner can respect an explicitly modeled constraint.
Use and review
This entry is the four-author 2023 arXiv v1, which is identified separately from the later ICLR 2025 project version. The scope of a planning constraint must be checked against execution dynamics and the actual hazard.
Sources & editions
SafeDiffuser: Safe Planning with Diffusion Probabilistic Models ↗
arXiv · arXiv:2306.00148v1
arXiv v1 abstract, four-author metadata and submission history dated 2023-05-31.