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autonomous driving 1barrier functions 1diffusion models 1safety verification 1trajectory planning 1

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20242026
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cs.RO2026

PC-Diffuser: Path-Consistent Capsule CBF Safety Filtering for Diffusion-Based Trajectory Planner

Eugene Ku, Yiwei Lyu

PC-Diffuser integrates a certifiable barrier-function safety filter directly into the denoising loop of diffusion-based trajectory planners for autonomous driving, ensuring forward…