SafeFlow: フローマッチングと制御バリア関数による安全なロボット動作計画
SafeFlow: Safe Robot Motion Planning with Flow Matching via Control Barrier Functions
フローマッチングによる軌道生成に制御バリア関数を組み込み、再学習なしでテスト時にリアルタイムな安全保証を実現する動作計画フレームワークを提案した。
著者: Xiaobing Dai, Zewen Yang, Dian Yu, Fangzhou Liu, Hamid Sadeghian, Sami Haddadin, Sandra Hirche
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
Recent advances in generative modeling have led to promising results in robot motion planning, particularly through diffusion and flow matching (FM)-based models that capture complex, multimodal trajectory distributions. However, these methods are typically trained offline and remain limited when faced with new environments with constraints, often lacking explicit mechanisms to ensure safety during deployment. In this work, safe flow matching (SafeFlow), a motion planning framework, is proposed for trajectory generation that integrates flow matching with safety guarantees. SafeFlow leverages our proposed flow matching barrier functions (FMBF) to ensure the planned trajectories remain within safe regions across the entire planning horizon. Crucially, our approach enables training-free, real-time safety enforcement at test time, eliminating the need for retraining. We evaluate SafeFlow on a diverse set of tasks, including planar robot navigation and 7-DoF manipulation, demonstrating superior safety and planning performance compared to state-of-the-art generative planners. Comprehensive resources are available on the project website: https://safeflowmatching.github.io.
