We propose a notion of robust adaptive backup control barrier functions for nonlinear control affine systems with parametric uncertainty in both the drift dynamics and actuation matrix. Backup control barrier functions guarantee safety by predicting the system's trajectory under…
A key limitation on the use of diffusion models in robotic planning is their inability to inherently enforce safety or dynamical constraints, which often results in physically infeasible or unsafe outputs. Hybrid approaches that employ model predictive control (MPC) to address th…