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Lingjie Zhang, Zeyu Jiang and Changhao Chen are with PEAK-Lab, The Hong Kong University of Science and Technology (Guangzhou), Guangzhou, 511453, China (zljjacob@gmail.com, zjiang122@connect.hkust-gz.edu.cn, changhaochen@hkust-gz.edu.cn
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By combining learned guidance with safety-constrained optimization, SaferPath enables robots to navigate complex, cluttered environments with significantly improved safety and success rates compared to end-to-end methods.