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cs.RO2025
Gradient-based Trajectory Optimization with Parallelized Differentiable Traffic Simulation
Sanghyun Son, Laura Zheng, Brian Clipp +3
We present a parallelized differentiable traffic simulator based on the Intelligent Driver Model (IDM), a car-following framework that incorporates driver behavior as key variables…
cs.RO2024
Deep Stochastic Kinematic Models for Probabilistic Motion Forecasting in Traffic
Laura Zheng, Sanghyun Son, Jing Liang +3
In trajectory forecasting tasks for traffic, future output trajectories can be computed by advancing the ego vehicle's state with predicted actions according to a kinematics model.…