@article{constraineddiffusersforsafeplanningand,
  title = {Constrained Diffusers for Safe Planning and Control},
  author = {Jichen Zhang and Liqun Zhao and Antonis Papachristodoulou and Jack Umenberger},
  year = {2025},
  eprint = {2506.12544},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2506.12544v1},
}