PC-Diffuser: Path-Consistent Capsule CBF Safety Filtering for Diffusion-Based Trajectory Planner

arXiv cs.AI · 18 hours ago

Researchers developed PC-Diffuser, a safety framework that embeds barrier functions directly into diffusion-based trajectory planning for autonomous driving to prevent collisions. The method applies safety corrections at each denoising step using capsule-distance functions and kinematic constraints while preserving the learned behavior distribution. This approach enables diffusion models to generate certified safe trajectories without post-hoc correction that may distort the learned planning patterns.