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Changliu Liu

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Preprint Jul 2026

Motion Planning with Model-Based Diffusion via Constraint Optimization and Adaptive Scheduling

This work introduces Model-Based Diffusion via Constraint Optimization and Adaptive Scheduling (MD-COAS) for SRMP that unifies the inexact Augmented Lagrangian Method (iALM) soft diffusion prior with a Convex Feasible Set (CFS)-based hard projection operator, and adaptively schedules and co-optimizes safety enforcement, along with diffusion scheduling.

Zhilin He, Bowei Li, Jianlin Dou et al. · 1 citation