标题： SafeDiffuser：使用扩散概率模型的安全规划 显示英文标题

标题： SafeDiffuser: Safe Planning with Diffusion Probabilistic Models

摘要： 基于扩散模型的方法在数据驱动规划中显示出前景，但没有安全保证，因此难以应用于安全关键的应用。 为了解决这些挑战，我们提出了一种新方法，称为SafeDiffuser，通过使用一类控制屏障函数来确保扩散概率模型满足规范。 我们方法的关键思想是将所提出的有限时间扩散不变性嵌入到去噪扩散过程中，这使得可信的扩散数据生成成为可能。 此外，我们证明了通过生成模型的有限时间扩散不变性方法不仅保持了泛化性能，还在安全数据生成中创造了鲁棒性。 我们在一系列安全规划任务上测试了我们的方法，包括迷宫路径生成、腿式机器人运动和3D空间操作，结果表明在鲁棒性和保证方面优于原始扩散模型。 显示英文摘要

摘要： Diffusion model-based approaches have shown promise in data-driven planning, but there are no safety guarantees, thus making it hard to be applied for safety-critical applications. To address these challenges, we propose a new method, called SafeDiffuser, to ensure diffusion probabilistic models satisfy specifications by using a class of control barrier functions. The key idea of our approach is to embed the proposed finite-time diffusion invariance into the denoising diffusion procedure, which enables trustworthy diffusion data generation. Moreover, we demonstrate that our finite-time diffusion invariance method through generative models not only maintains generalization performance but also creates robustness in safe data generation. We test our method on a series of safe planning tasks, including maze path generation, legged robot locomotion, and 3D space manipulation, with results showing the advantages of robustness and guarantees over vanilla diffusion models.