@article{pcdiffuserpathconsistentcapsulecbfsafety,
  title = {PC-Diffuser: Path-Consistent Capsule CBF Safety Filtering for Diffusion-Based Trajectory Planner},
  author = {Eugene Ku and Yiwei Lyu},
  year = {2026},
  eprint = {2603.10330},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2603.10330},
}