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Ian Manchester

3 accepted papers

2026

EB-MBD: Emerging-Barrier Model-Based Diffusion for Safe Trajectory Optimization in Highly Constrained Environments

ICRA 2026poster

We propose enforcing constraints on Model-Based Diffusion by introducing emerging barrier functions inspired by interior point methods. We show that constraints on Model-Based Diffusion can lead to catastrophic performance degradation, even on simple 2D systems due to sample inefficiency in the Mont…

2024

Monotone, Bi-Lipschitz, and Polyak-Łojasiewicz Networks

ICML 2024poster

This paper presents a new *bi-Lipschitz* invertible neural network, the BiLipNet, which has the ability to smoothly control both its *Lipschitzness* (output sensitivity to input perturbations) and *inverse Lipschitzness* (input distinguishability from different outputs). The second main contribution…

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