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cs.RO2026
Safe Streaming Flow Planning by Aligning Sampling Dynamics with Execution Dynamics
Seunghwan Jang, Jeongyong Yang, Siddharth Ancha +1
Generative planners based on diffusion/flow matching can learn to synthesize long-horizon trajectories from demonstrations. However, real-world deployment requires (i) enforcing sa…
cs.RO2025
SafeFlowMatcher: Safe and Fast Planning using Flow Matching with Control Barrier Functions
Jeongyong Yang, Seunghwan Jang, SooJean Han
Generative planners based on flow matching (FM) produce high-quality paths in a single or a few ODE steps, but their sampling dynamics offer no formal safety guarantees and can yie…