Author

Ferdinando Fioretto

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#machine learning Preprint Oct 2026

Training-Free Diffusion Planning with Analytical Local Scores

Path finding and multi-robot motion planning require trajectories that are smooth, goal-directed, and collision-free in environments with complex geometric constraints. Recent diffusion-based planners have shown that trajectory generation can be cast as iterative denoising which has opened the doors to learning-based a...

Michael Y. Fatemi, Jin-Hao Liang, Ferdinando Fioretto · 0 citations

#artificial intelligence Preprint Sep 2026

SEABench: Benchmarking Endogenous Misalignment In Self-Evolving Agents

This work introduces SEABench, a benchmark for studying endogenous misalignment arising from agent self-evolution, with 48 longitudinal task sequences that span multiple evolution surfaces, task domains, and harm types in a rich personal-assistant environment and shows that qualitatively different safety behaviors emer...

Saswat Das, Parvati Viswanathan, Daniel Donnelly et al. · 0 citations