Yashaswi Shashank Aluru

Training-Free Guided Diffusion for Planning: A Unified Framework via Doob’s h-Transform with Safety Guarantees

This paper studies the theoretical foundations of guidance mechanisms in continuous-time score-based diffusion models. We adopt Doob’s h-transform as a principled framework for characterizing ideal guided diffusion processes and analyze the discrepancy between ideal and approximate guidance. Our ana…