PC-Diffuser: פתרון בטיחותי סטטיסטי למתכנן תנועה בסביבה תעבורתית

תקציר מקורי באנגליתarXiv:2603.10330v3 Announce Type: replace-cross Abstract: Autonomous driving in complex traffic requires planners that generalize beyond hand-crafted rules, motivating data-driven approaches that learn behavior from expert demonstrations. Diffusion-based trajectory planners have recently shown strong closed-loop performance by iteratively denoising a full-horizon plan, but they remain difficult to certify and can fail catastrophically in rare or out-of-distribution scenarios. To address this challenge, we present PC-Diffuser, a safety augmentation framework that embeds a certifiable, path-consistent barrier-function structure directly into the denoising loop of diffusion planning. The key idea is to make safety an intrinsic part of trajectory generation rather than a post-hoc fix: we enfor