FORCE-OPT extracts calibrated, multi-modal reachable sets from GMM trajectory predictors using convex optimization and conformal prediction, achieving the lowest balanced error rate in safety evaluation on nuScenes.
Motion planning for autonomous driving: The state of the art and future perspectives,
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Safety Evaluation of Motion Plans Using Trajectory Predictors as Forward Reachable Set Estimators
FORCE-OPT extracts calibrated, multi-modal reachable sets from GMM trajectory predictors using convex optimization and conformal prediction, achieving the lowest balanced error rate in safety evaluation on nuScenes.