4 papers · 1 filter
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…
Graph-Guided Safe Diffuser: Topological Graph Guidance for Safe Diffusion Planning
Nakgyu Yang, KwangBin Lee, SooJean Han
Many diffusion-based planners enforce safety through inference-time guidance, but such interleaved trajectory deformations often degrade kinematic feasibility due to manifold ruptu…
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…
Heterogeneous Predictor-based Risk-Aware Planning with Conformal Prediction in Dense, Uncertain Environments
Jeongyong Yang, KwangBin Lee, SooJean Han
Real-time planning among many uncertain, dynamic obstacles is challenging because predicting every agent with high fidelity is both unnecessary and computationally expensive. We pr…