Author

Joel W. Burdick

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Jul 2026

D-SafeMPC: Diffusion-Driven Safe Model Predictive Control with Discrete-Time Control Barrier Functions

D-SafeMPC improves safety, task success rates, and planning efficiency over state-of-the-art baselines, and employs an iterative-projection scheme where an MPC refines the trajectory at each denoising step.

Erdi Sayar, Ersin Daş, Joel W. Burdick et al. · arXiv.org · 0 citations