CDP: Constrained Diffusion Policies with Mirror Diffusion Model for Safety-Assured Imitation Learning

Taeoh Ha, Hyunsoo Cha 0003, Daehyun Ji. CDP: Constrained Diffusion Policies with Mirror Diffusion Model for Safety-Assured Imitation Learning. In IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2025, Hangzhou, China, October 19-25, 2025. pages 9838-9845, IEEE, 2025. [doi]

Abstract

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