Safe Streaming Flow Planning by Aligning Sampling Dynamics with Execution Dynamics
Generative planners based on diffusion/flow matching can learn to synthesize long-horizon trajectories from demonstrations. However, real-world deployment requires (i) enforcing safety constraints during execution and (ii) tight online replanning at fast execution rates. Prior safe diffusion/flow planners generate the...
Seunghwan Jang, Jeongyong Yang, Siddharth Ancha et al.
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