3 papers
eess.SY2025
Reachability-Based Contingency Planning against Multi-Modal Predictions with Branch MPC
Mohamed-Khalil Bouzidi, Bojan Derajic, Daniel Goehring +1
This paper presents a novel contingency planning framework that integrates learning-based multi-modal predictions of traffic participants into Branch Model Predictive Control (MPC)…
cs.LG2025
Beyond In-Distribution Performance: A Cross-Dataset Study of Trajectory Prediction Robustness
Yue Yao, Daniel Goehring, Joerg Reichardt
We study the Out-of-Distribution (OoD) generalization ability of three SotA trajectory prediction models with comparable In-Distribution (ID) performance but different model design…
cs.RO2024
Motion Planning under Uncertainty: Integrating Learning-Based Multi-Modal Predictors into Branch Model Predictive Control
Mohamed-Khalil Bouzidi, Bojan Derajic, Daniel Goehring +1
In complex traffic environments, autonomous vehicles face multi-modal uncertainty about other agents' future behavior. To address this, recent advancements in learningbased motion…