A diffusion policy can satisfy novel state and action constraints by projecting each denoising step onto a dynamics-constrained feasible set and tightening those constraints to account for model mismatch.
Motion P lanning D iffusion: L earning and P lanning of R obot M otions with D iffusion M odels
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Diffusion Predictive Control with Constraints
A diffusion policy can satisfy novel state and action constraints by projecting each denoising step onto a dynamics-constrained feasible set and tightening those constraints to account for model mismatch.