Emerging-Barrier Model-Based Diffusion

Code release for "EB-MBD: Emerging-Barrier Model-Based Diffusion for Safe Trajectory Optimization in Highly Constrained Environments"

Installation

Follow instructions to install poetry and run

poetry install

Test everything works by running on 2D obstacle avoidance problem

mkdir results
cd results
poetry run python3 ../scripts/obs2d_trajopt.py comparison

Cite

Please cite this paper as

@misc{mishra2025ebmbd,
      title={EB-MBD: Emerging-Barrier Model-Based Diffusion for Safe Trajectory Optimization in Highly Constrained Environments}, 
      author={Raghav Mishra and Ian R. Manchester},
      year={2025},
      eprint={2510.07700},
      archivePrefix={arXiv},
      primaryClass={cs.RO},
      url={https://arxiv.org/abs/2510.07700}, 
}