Papers Trajectory Planning
“Trajectory Planning” 태그가 달린 논문 645편 · 필터 해제
CorrRisk-WM: Corridor-Conditioned Risk World Modeling for Safety-Critical Trajectory Planning
Safe local planning requires forecasting surrounding-agent motion and evaluating candidate-specific risks, since identical agent motion can pose different risks to different ego trajectories. We present CorrRisk-WM, a pl…
Trajectory PlanningEmbedding Physics Priors in Robot Learning: A Survey
The rapid progress of artificial intelligence is reshaping robotics and accelerating the adoption of learning-based approaches. While purely data-driven methods have achieved remarkable success in computer vision and nat…
Trajectory PlanningOne Diffusion Model, Two Roles: Guided Trajectory Planning and Safety-Critical Scenario Generation in Closed-Loop Simulation
Diffusion probabilistic models can capture the multi-modal, interaction-rich distribution of joint future trajectories in driving scenes. We show that a single pretrained diffusion traffic model can serve two complementa…
Trajectory PlanningAutonomous DrivingMotion PlanningLUCID: An Agentic AI Framework on Digital-Twin in the Loop for QoS-Guaranteeing Robotic Control
Cloud robotics relies on the timely uplink of high-volume sensing streams, yet dynamic environments continually shift the feasible combinations of trajectories, active-robot count, and per-robot QoS. Because existing app…
Trajectory PlanningCooperative Risk-Aware Exploration in Heterogeneous Multi-Robot Systems Using Algorithmic Altruism
Multi-robot systems are well-positioned for exploration in hazardous environments, but effective deployment requires deciding not only where robots should gather information, but also how risk should be distributed acros…
Trajectory PlanningSpatial-Semantic Reasoning using Large Language Models for Efficient UAV Search Operations
We present a real-time semantic navigation framework for Unmanned Aerial Vehicles (UAVs) focused on improving time efficiency in the Object Goal Navigation (ObjectNav) task. Central to our approach is a Large Language Mo…
Real-Time Object DetectionTrajectory PlanningRoadside-Cooperative Autonomous Driving: From Data Platform to Vision-Language End-to-End Reasoning
Vehicle-to-Everything (V2X) cooperation enables beyond-line-of-sight perception, mitigating occlusions in single-vehicle sensing. However, existing V2X benchmarks provide limited support for closed-loop evaluation and la…
Trajectory PlanningAutonomous DrivingA Collaborative Multi-Modality Interaction for VLA-based End-to-End Autonomous Driving
Vision-Language-Action (VLA) models have emerged as a powerful paradigm for end-to-end autonomous driving by jointly integrating perception, reasoning, and decision making within a unified multimodal framework. However, …
Visual Question AnsweringTrajectory PlanningAutonomous DrivingDecision MakingMultimodal Trajectory Planning for Surface Vehicles using Turning Circle-based Control Barrier Functions
This paper presents a guide path-free multimodal trajectory planning framework for autonomous surface vehicles operating in dynamic environments. The proposed method integrates model predictive control (MPC) with a turni…
Computational EfficiencyTrajectory PlanningUniReflex: Plug-and-Play Force Control for Pretrained Generative Policies via Fast-Slow Reflex
Generative imitation learning policies excel at trajectory planning but lack closed-loop force regulation, while directly incorporating force modalities often requires redesigning or retraining the network. We present Un…
Trajectory PlanningControl-Informed Constraint Adaptation in Minimum-Time Trajectory Planning for Autonomous Racing
Autonomous racecars operate at the limits of vehicle dynamics, where small control errors translate into safety-critical behavior and lost performance. Trajectory planners assume perfect tracking and remain blind to exec…
Autonomous VehiclesTrajectory PlanningA Unified Framework for Trajectory Prediction with Explicit Planning and Reaction Decomposition
Trajectory prediction has shifted toward structured formulations with explicit social modeling. However, existing methods inadequately distinguish the functional roles of social influence in trajectory planning. Observin…
Trajectory PredictionTrajectory PlanningPathCover: A Fast Convex Decomposition along a Path via Randomized Iterative Space Partitioning (RISP) on Point Clouds
Autonomous robot navigation requires the rapid generation of obstacle-free regions for trajectory planning. However, existing corridor generators struggle to meet real-time, sensor-rate computational constraints. To reso…
Trajectory PlanningRobot NavigationPoint CloudsSUV: Future Scene Understanding as Video Generation for End-to-End Driving
End-to-end driving requires a coherent understanding of future scenes, yet existing methods model these scenes using task-specific heads and output formats, with limited scalability. Can video generation instead provide …
Scene UnderstandingTrajectory PlanningVideo GenerationNeural operator learning for collision-aware trajectory planning of spacecraft swarms
Autonomous spacecraft swarms must plan fuel-efficient, collision-free maneuvers in increasingly congested orbits, yet classical trajectory optimization scales poorly as pairwise safety constraints multiply with swarm siz…
Trajectory PlanningCinemaTraj: Composing Atomic Camera Trajectories for 3D Scenes with LLM Agents
Automatically generating cinematically expressive camera trajectories through 3D scenes from natural language descriptions is a challenging task of high practical value, with applications ranging from real-estate adverti…
Trajectory PlanningCollision AvoidanceSpatial ReasoningTRUAV: Distributed Multi-Agent Reinforcement Learning for Trajectory Planning and Routing Enhancement in UAV-Aided IoT-Enabled VANETs
Unmanned aerial vehicles (UAVs) have emerged as a key enabler of next-generation Internet of Things (IoT) ecosystems, offering flexible aerial relaying to extend connectivity across dynamic vehicular ad hoc networks (VAN…
Multi-agent Reinforcement LearningTrajectory PlanningReferTrack: Referring Then Tracking for Embodied Visual Tracking
Embodied visual tracking (EVT) requires a mobile agent to continuously follow a specific target described in natural language using only onboard vision. While recent vision-language-action (VLA) policies unify target ide…
Trajectory PlanningVisual TrackingRemote ID Spoofing-Aware Trajectory Planning for Small Unmanned Aerial Systems
This work presents a decentralized, spoofing-aware trajectory planning framework for small unmanned aerial systems operating under Remote Identification (RID) location spoofing attacks. Existing planners typically assume…
Computational EfficiencyTrajectory PlanningCollision AvoidanceGeoWorldAD: Geometry World Action Model for Autonomous Driving
Autonomous driving requires both safe and efficient planning decisions in dynamic 3D environments. Although recent Vision/Video-Action models learn policies directly from visual observations and scale well with advances …
Collision AvoidanceTrajectory PlanningAutonomous Driving