Reproduce “PC-Diffuser: Path-Consistent Capsule CBF Safety Filtering for Diffusion-Based Trajectory Planner” on OpenResearch
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About this paper
Eugene Ku, Yiwei Lyu
PC-Diffuser makes driving plans safer during generation by filtering trajectories with a control barrier condition on modeled vehicle rollouts, primarily adjusting speed while holding tracked steering. On 68 Val14 scenarios where DiffusionPlanner collided in every case, it reports a 10.29% collision rate and 0.59 composite score, versus 100% and 0.00. These nuPlan simulation results do not establish real-world safety.
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