3 papers
cs.RO2026
Diffeomorphic Hidden-State Steering: Improving Imitation Learning Policy Robustness through Expert Hidden-State Geometry
KwangBin Lee
Small observation or action errors can compound during closed-loop execution and disrupt a trained imitation learning policy. We study whether the original expert demonstrations ca…
cs.RO2026
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…
cs.RO2025
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…