2 papers
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.LG2025
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…