Author

Siddharth Ancha

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#machine learning Preprint Oct 2026

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. · 0 citations

Preprint Aug 2026

Revisiting Open-Loop Execution in Robotics: Toward Reactive, Higher-Performing Policies

Action chunking --- the practice of predicting a sequence of actions and executing a prefix open-loop --- has emerged as a key enabler of recent progress in imitation learning for robotic manipulation. However, executing long open-loop prefixes reduces reactivity, limiting policies'ability to correct for errors. Furthe...

Michael Zeng, Abhinav Agarwal, Ajay Bati et al. · 3 citations