UniConFlow: A Unified Constrained Flow-Matching Framework for Certified Motion Planning

arXiv:2506.02955v3 Announce Type: replace-cross Abstract: Generative models have become increasingly powerful tools for robot motion generation, enabling flexible and multimodal trajectory generation across various tasks. Yet, most existing approaches remain limited in handling multiple types of constraints, such as collision avoidance, actuation limits, and dynamic consistency, which are typically addressed individually or heuristically. In this work, we propose UniConFlow, a unified constrained flow matching-based framework for trajectory generation that systematically incorporates both equa

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