arbitration graphs 1autonomous driving 1learned planning 1motion planning 1rule-based planning 1safety verification 1
From the 1 of 2 linked papers with an AI index.
2 papers
cs.RO2026
Mosaic: An Extensible Framework for Composing Rule-Based and Learned Motion Planners
Nick Le Large, Marlon Steiner, Lingguang Wang +4
Mosaic is a framework that combines rule‑based and learned motion planners using arbitration graphs, separating trajectory verification from selection to improve safety and perform…
cs.RO2026
FlowDrive: moderated flow matching with data balancing for trajectory planning
Lingguang Wang, Ãmer Åahin TaÅ, Marlon Steiner +1
Learning-based planners are sensitive to the long-tailed distribution of driving data. Common maneuvers dominate datasets, while dangerous or rare scenarios are sparse. This imbala…