4 papers · 1 filter
CFG-OEC: Classifier Free Guidance with Orthogonal Error Correction
Nakgyu Yang, Yechan Lee, SooJean Han
Classifier free guidance is a standard method for conditional sampling in diffusion models, but its sampling rule is not aligned with the objective used in training. This mismatch…
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…
Advantages of Feedback in Distributed Data-Gathering for Accurate and Power-Efficient State-Estimation
Hyeongmin Choe, SooJean Han
In distributed target-tracking sensor networks, efficient data gathering methods are necessary to save communication resources and assure information accuracy. This paper proposes…
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…