Fisher-Preserving Guidance: Training-Free Manifold Constraints for Safe Diffusion Control

arXiv:2605.29937v1 Announce Type: cross Abstract: Diffusion models are effective for waypoint prediction in visual navigation, but standard sampling and test time guidance can produce unreliable or inefficient trajectories when updates drift off the training manifold. We propose Fisher Preserving Guidance with Outer Product Span Projection, a training-free inference method that avoids large Fisher drift associated with off-distribution actions while optimizing a task objective. Our method computes the Fisher-preserving update via a low-rank Jacobian factorization, requiring only a single backw

Source: arXiv cs.LG — read the full report at the original publisher.

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