A hierarchical planner that routes through a safety-pruned latent graph and generates conditioned diffusion bridges reports 98% collision-free maze success versus 40-50% for guidance-based diffusion baselines.
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Graph-Guided Safe Diffuser: Topological Graph Guidance for Safe Diffusion Planning
A hierarchical planner that routes through a safety-pruned latent graph and generates conditioned diffusion bridges reports 98% collision-free maze success versus 40-50% for guidance-based diffusion baselines.