A goal-conditioned diffusion planner combined with a high-order control barrier function safety filter for unsignalized intersections, where the reported near-zero errors are driven by goal leakage and the safety proof omits cross velocity terms.
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Dynamic High-Order Control Barrier Functions with Diffuser for Safety-Critical Trajectory Planning at Signal-Free Intersections
A goal-conditioned diffusion planner combined with a high-order control barrier function safety filter for unsignalized intersections, where the reported near-zero errors are driven by goal leakage and the safety proof omits cross velocity terms.