AI RESEARCH
PC-Diffuser: Path-Consistent Capsule CBF Safety Filtering for Diffusion-Based Trajectory Planner
arXiv CS.AI
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ArXi:2603.10330v1 Announce Type: cross Autonomous driving in complex traffic requires planners that generalize beyond hand-crafted rules, motivating data-driven approaches that learn behavior from expert nstrations. Diffusion-based trajectory planners have recently shown strong closed-loop performance by iteratively denoising a full-horizon plan, but they remain difficult to certify and can fail catastrophically in rare or out-of-distribution scenarios.