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cs.RO2025
Predictive Planner for Autonomous Driving with Consistency Models
Anjian Li, Sangjae Bae, David Isele +2
Trajectory prediction and planning are essential for autonomous vehicles to navigate safely and efficiently in dynamic environments. Traditional approaches often treat them separat…
cs.RO2025
Aligning Diffusion Model with Problem Constraints for Trajectory Optimization
Anjian Li, Ryne Beeson
Diffusion models have recently emerged as effective generative frameworks for trajectory optimization, capable of producing high-quality and diverse solutions. However, training th…
cs.RO2024
DiffuSolve: Diffusion-based Solver for Non-convex Trajectory Optimization
Anjian Li, Zihan Ding, Adji Bousso Dieng +1
Optimal trajectory design is computationally expensive for nonlinear and high-dimensional dynamical systems. The challenge arises from the non-convex nature of the optimization pro…