A diffusion trajectory planner with a barrier-function guidance term and warm starting avoids obstacles in real time on a miniature race car, with 100% success in the reported trials.
Sohl-Dickstein, E
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Constraint-Aware Diffusion Guidance for Robotics: Real-Time Obstacle Avoidance for Autonomous Racing
A diffusion trajectory planner with a barrier-function guidance term and warm starting avoids obstacles in real time on a miniature race car, with 100% success in the reported trials.