mlsanityData to 7 Oct 2026

CoBL-Diffusion: Diffusion-Based Conditional Robot Planning in Dynamic Environments Using Control Barrier and Lyapunov Functions

arXiv 2406.05309 ↗First posted 8 Jun 2024cs.ROcited by 30

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Abstract (arXiv)

Equipping autonomous robots with the ability to navigate safely and efficiently around humans is a crucial step toward achieving trusted robot autonomy. However, generating robot plans while ensuring safety in dynamic multi-agent environments remains a key challenge. Building upon recent work on leveraging deep generative models for robot planning in static environments, this paper proposes CoBL-Diffusion, a novel diffusion-based safe robot planner for dynamic environments. CoBL-Diffusion uses Control Barrier and Lyapunov functions to guide the denoising process of a diffusion model, iteratively refining the robot control sequence to satisfy the safety and stability constraints. We demonstrate the effectiveness of the proposed model using two settings: a synthetic single-agent environment and a real-world pedestrian dataset. Our results show that CoBL-Diffusion generates smooth trajectories that enable the robot to reach goal locations while maintaining a low collision rate with dynamic obstacles.

Key facts. Cited by 30 papers in the map (data through 7 Oct 2026). First posted on arXiv 8 Jun 2024.

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2024: 3; 2025: 13; 2026: 14.

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  1. 2024Motion Planning Diffusion: Learning and Adapting Robot Motion Planning with Diffusion Modelscited by 32
  2. 2025HardFlow: Hard-Constrained Sampling for Flow-Matching Models via Trajectory Optimizationcited by 10
  3. 2025Demystifying Diffusion Policies: Action Memorization and Simple Lookup Table Alternativescited by 9
  4. 2024Generative AI Agents in Autonomous Machines: A Safety Perspectivecited by 7
  5. 2025STLCG++: A Masking Approach for Differentiable Signal Temporal Logic Specificationcited by 6
  6. 2025Zero-Shot Trajectory Planning for Signal Temporal Logic Taskscited by 6
  7. 2025UniConFlow: A Unified Constrained Flow-Matching Framework for Certified Motion Planningcited by 4
  8. 2025Pick-and-place Manipulation Across Grippers Without Retraining: A Learning-optimization Diffusion Policy Approachcited by 3
  9. 2025Unifying Model Predictive Path Integral Control, Reinforcement Learning, and Diffusion Models for Optimal Control and Planningcited by 3
  10. 2025Generative AI for Autonomous Driving: A Reviewcited by 3
  11. 2026Implicit Maximum Likelihood Estimation for Real-time Generative Model Predictive Controlcited by 3
  12. 2024Learning responsibility allocations for multi-agent interactions: A differentiable optimization approach with control barrier functionscited by 2
18 more
  1. 2025Inference-stage Adaptation-projection Strategy Adapts Diffusion Policy to Cross-manipulators Scenarioscited by 2
  2. 2025Formal Safety Verification and Refinement for Generative Motion Planners via Certified Local Stabilizationcited by 2
  3. 2025SAD-Flower: Flow Matching for Safe, Admissible, and Dynamically Consistent Planningcited by 2
  4. 2026Provably Safe Generative Sampling with Constricting Barrier Functionscited by 2
  5. 2026Safe Vision Language Action Models via Barrier Enhanced Flow Matchingcited by 2
  6. 2025Knowledge Integration Strategies in Autonomous Vehicle Prediction and Planning: A Comprehensive Surveycited by 1
  7. 2026Contractive Diffusion Policies: Robust Action Diffusion via Contractive Score-Based Sampling with Differential Equationscited by 1
  8. 2026DualShield: Safe Model Predictive Diffusion via Reachability Analysis for Interactive Autonomous Drivingcited by 1
  9. 2026DiRecT: Safe Diffusion-Based Planning via Receding-Horizon Denoisingcited by 1
  10. 2025Unified Generation-Refinement Planning: Bridging Guided Flow Matching and Sampling-Based MPC for Social Navigationcited by 0
  11. 2026PC-Diffuser: Path-Consistent Capsule CBF Safety Filtering for Diffusion-Based Trajectory Plannercited by 0
  12. 2026Safe Probabilistic Planning for Human-Robot Interaction using Conformal Risk Controlcited by 0
  13. 2026Train-Small Deploy-Large: Leveraging Diffusion-Based Multi-Robot Planningcited by 0
  14. 2026JPPD: Joint Prediction_Planning Diffusion with Differentiable Safety Guidance for Dynamic Obstacle Avoidance in Intelligent Transportation Systemscited by 0
  15. 2026D-SafeMPC: Diffusion-Driven Safe Model Predictive Control with Discrete-Time Control Barrier Functionscited by 0
  16. 2026Denoising as Projection: Constrained Optimization with Gradient-Guided Diffusioncited by 0
  17. 2026SoGuDiff: Socially Guided Diffusion for Steerable, Norm-Grounded Robot Navigationcited by 0
  18. 2026Training-Free Diffusion Planning with Analytical Local Scorescited by 0

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  1. 2024LDP: A Local Diffusion Planner for Efficient Robot Navigation and Collision Avoidance
  2. 2023SafeDiffuser: Safe Planning with Diffusion Probabilistic Models
  3. 2026Motion Planning with Model-Based Diffusion via Constraint Optimization and Adaptive Scheduling
  4. 2026Model-Based Diffusion Optimal Control for Multi-Robot Motion Planning
  5. 2025Cascaded Diffusion Models for Neural Motion Planning
  6. 2025DDAT: Diffusion Policies Enforcing Dynamically Admissible Robot Trajectories
  7. 2025Pixel Motion Diffusion is What We Need for Robot Control
  8. 2025Non-differentiable Reward Optimization for Diffusion-based Autonomous Motion Planning