Reachability-based corridor clustering reduces the scenario tree of a Branch MPC planner while keeping all predicted behavior modes represented, and adds a maximum decision-postponing time calculation.
Motion transformer with global intention localization and local movement refinement,
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Reachability-Based Contingency Planning against Multi-Modal Predictions with Branch MPC
Reachability-based corridor clustering reduces the scenario tree of a Branch MPC planner while keeping all predicted behavior modes represented, and adds a maximum decision-postponing time calculation.