A joint prediction-planning diffusion framework using causal Transformer and differentiable safety guidance improves tail safety and efficiency over separated baselines in shared-space navigation.
Efficient trajectory fore- casting and generation with conditional flow matching,
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JPPD: Joint Prediction_Planning Diffusion with Differentiable Safety Guidance for Dynamic Obstacle Avoidance in Intelligent Transportation Systems
A joint prediction-planning diffusion framework using causal Transformer and differentiable safety guidance improves tail safety and efficiency over separated baselines in shared-space navigation.