Raghav Mishra

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

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…