SafeDiffuser: Safe Planning with Diffusion Probabilistic Models

International Conference on Learning Representations (ICLR), 2023

31 May 2023

Wei Xiao

Tsun-Hsuan Wang

Chuang Gan

Daniela Rus

DiffM

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Papers citing "SafeDiffuser: Safe Planning with Diffusion Probabilistic Models"

37 / 37 papers shown

Title
HardFlow: Hard-Constrained Sampling for Flow-Matching Models via Trajectory Optimization Zeyang Li Kaveh Alim Navid Azizan 312 0 0 11 Nov 2025
From Demonstrations to Safe Deployment: Path-Consistent Safety Filtering for Diffusion Policies Ralf Romer Julian Balletshofer Jakob Thumm Marco Pavone Angela P. Schoellig Matthias Althoff 126 0 0 09 Nov 2025
SAD-Flower: Flow Matching for Safe, Admissible, and Dynamically Consistent Planning T. Huang Armin Lederer Dai-Jie Wu X. Dai Sihua Zhang Stefan Sosnowski Shao-Hua Sun Sandra Hirche 137 0 0 07 Nov 2025
EB-MBD: Emerging-Barrier Model-Based Diffusion for Safe Trajectory Optimization in Highly Constrained Environments Raghav Mishra Ian R. Manchester 100 0 0 09 Oct 2025
PAD-TRO: Projection-Augmented Diffusion for Direct Trajectory Optimization Jushan Chen Santiago Paternain 149 0 0 06 Oct 2025
Hierarchical Diffusion Motion Planning with Task-Conditioned Uncertainty-Aware Priors Amelie Minji Kim Anqi Wu Ye Zhao DiffM 104 0 0 30 Sep 2025
SafeFlowMatcher: Safe and Fast Planning using Flow Matching with Control Barrier Functions Jeongyong Yang Seunghwan Jang Soojean Han 127 0 0 29 Sep 2025
Formal Safety Verification and Refinement for Generative Motion Planners via Certified Local Stabilization Devesh Nath Haoran Yin Glen Chou 105 0 0 24 Sep 2025
VH-Diffuser: Variable Horizon Diffusion Planner for Time-Aware Goal-Conditioned Trajectory Planning Ruijia Liu Ancheng Hou Shaoyuan Li Xiang Yin 117 1 0 15 Sep 2025
Joint Model-based Model-free Diffusion for Planning with Constraints Wonsuhk Jung Utkarsh Aashu Mishra Nadun Ranawaka Arachchige Yongxin Chen Danfei Xu Shreyas Kousik DiffM 232 1 0 10 Sep 2025
Unified Generation-Refinement Planning: Bridging Guided Flow Matching and Sampling-Based MPC for Social Navigation Kazuki Mizuta Karen Leung 149 0 0 02 Aug 2025
RODS: Robust Optimization Inspired Diffusion Sampling for Detecting and Reducing Hallucination in Generative Models Yiqi Tian Pengfei Jin Mingze Yuan Na Li Bo Zeng Shijie Zhao DiffM 115 0 0 16 Jul 2025
DiffusionRL: Efficient Training of Diffusion Policies for Robotic Grasping Using RL-Adapted Large-Scale Datasets Maria Makarova Qian Liu Dzmitry Tsetserukou 172 1 0 24 May 2025
Generative AI for Autonomous Driving: A Review Katharina Winter Abhishek Vivekanandan Rupert Polley Yinzhe Shen Christian Schlauch ... J. Dietrich Omer Sahin Tas Nadja Klein Fabian B. Flohr Hanno Gottschalk 390 3 0 21 May 2025
Constraint-Aware Diffusion Guidance for Robotics: Real-Time Obstacle Avoidance for Autonomous Racing Hao Ma Sabrina Bodmer Andrea Carron Melanie Zeilinger Michael Muehlebach 202 2 0 19 May 2025
Robust Planning for Autonomous Driving via Mixed Adversarial Diffusion PredictionsIEEE International Conference on Robotics and Automation (ICRA), 2025 Albert Zhao Stefano Soatto DiffM 404 0 0 18 May 2025
CHD: Coupled Hierarchical Diffusion for Long-Horizon Tasks Ce Hao Anxing Xiao Zhiwei Xue Harold Soh 451 4 0 12 May 2025
FADConv: A Frequency-Aware Dynamic Convolution for Farmland Non-agriculturalization Identification and Segmentation Tan Shu Li Shen 259 13 0 04 Apr 2025
What Makes a Good Diffusion Planner for Decision Making?International Conference on Learning Representations (ICLR), 2025 Haofei Lu Dongqi Han Yifei Shen Dongsheng Li DiffM 334 24 0 01 Mar 2025
DDAT: Diffusion Policies Enforcing Dynamically Admissible Robot Trajectories Jean-Baptiste Bouvier Kanghyun Ryu Kartik Nagpal Qiayuan Liao Koushil Sreenath Negar Mehr 377 11 0 20 Feb 2025
Stable Continual Reinforcement Learning via Diffusion-based Trajectory Replay Feng Chen Fuguang Han Cong Guan Lei Yuan Zhilong Zhang Yang Yu Zongzhang Zhang 284 3 0 16 Nov 2024
Denoising Diffusion Planner: Learning Complex Paths from Low-Quality Demonstrations Michiel Nikken N. Botteghi Wesley Roozing Federico Califano DiffM 316 1 0 28 Oct 2024
RAIL: Reachability-Aided Imitation Learning for Safe Policy ExecutionIEEE International Conference on Robotics and Automation (ICRA), 2024 Wonsuhk Jung Dennis Anthony Utkarsh Aashu Mishra Nadun Ranawaka Arachchige Matthew Bronars Danfei Xu Shreyas Kousik 249 2 0 28 Sep 2024
Dynamic Obstacle Avoidance through Uncertainty-Based Adaptive Planning with Diffusion Vineet Punyamoorty Pascal Jutras-Dubé Ruqi Zhang Vaneet Aggarwal Damon Conover Aniket Bera 253 1 0 25 Sep 2024
Diffusion Model for Planning: A Systematic Literature Review Toshihide Ubukata Jialong Li Kenji Tei DiffM MedIm 262 17 0 16 Aug 2024
OASIS: Conditional Distribution Shaping for Offline Safe Reinforcement Learning Yi-Fan Yao Zhepeng Cen Wenhao Ding Hao-ming Lin Shiqi Liu Tingnan Zhang Wenhao Yu Ding Zhao OffRL OnRL 236 8 0 19 Jul 2024
BiRoDiff: Diffusion policies for bipedal robot locomotion on unseen terrains Gvs Mothish Manan Tayal Shishir Kolathaya 195 8 0 07 Jul 2024
CoBL-Diffusion: Diffusion-Based Conditional Robot Planning in Dynamic Environments Using Control Barrier and Lyapunov FunctionsIEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2024 Kazuki Mizuta Karen Leung 266 23 0 08 Jun 2024
Learning from Random Demonstrations: Offline Reinforcement Learning with Importance-Sampled Diffusion Models Zeyu Fang Tian Lan OffRL 332 6 0 30 May 2024
Model-Based Diffusion for Trajectory Optimization Chaoyi Pan Zeji Yi Guanya Shi Guannan Qu 229 31 0 28 May 2024
LTLDoG: Satisfying Temporally-Extended Symbolic Constraints for Safe Diffusion-based Planning Zeyu Feng Hao Luan Pranav Goyal Harold Soh 272 11 0 07 May 2024
CGD: Constraint-Guided Diffusion Policies for UAV Trajectory Planning Kota Kondo Andrea Tagliabue Xiaoyi Cai Claudius T. Tewari Olivia Garcia Marcos Espitia-Alvarez Jonathan P. How 240 20 0 02 May 2024
DiffuseLoco: Real-Time Legged Locomotion Control with Diffusion from Offline Datasets Xiaoyu Huang Yufeng Chi Ruofeng Wang Zhongyu Li Xue Bin Peng Sophia Shao Borivoje Nikolic Koushil Sreenath OffRL 249 54 0 30 Apr 2024
Diffusion Models for Reinforcement Learning: A Survey Zhengbang Zhu Hanye Zhao Haoran He Yichao Zhong Shenyu Zhang Haoquan Guo Tingting Chen Weinan Zhang 563 92 0 02 Nov 2023
Cold Diffusion on the Replay Buffer: Learning to Plan from Known Good StatesConference on Robot Learning (CoRL), 2023 Zidan Wang Takeru Oba Takuma Yoneda Rui Shen Matthew R. Walter Bradly C. Stadie DiffM 244 14 0 21 Oct 2023
Denoising Heat-inspired Diffusion with Insulators for Collision Free Motion Planning Junwoo Chang Hyunwoo Ryu Jiwoo Kim Soochul Yoo Jongeun Choi Joohwan Seo N. Prakash R. Horowitz DiffM AI4CE 289 8 0 19 Oct 2023
ShieldNN: A Provably Safe NN Filter for Unsafe NN Controllers James Ferlez Mahmoud M. Elnaggar Yasser Shoukry C. Fleming AAML 288 36 0 16 Jun 2020