JPPD: Joint Prediction_Planning Diffusion with Differentiable Safety Guidance for Dynamic Obstacle Avoidance in Intelligent Transportation Systems
Shared-space transportation operation requires low-speed autonomous platforms to navigate safely and efficiently among pedestrians, service robots, micromobility users, carts, and other road users. Most existing systems decompose this problem into trajectory prediction followed by motion planning, which creates one-way information flow: predicted participant futures influence the robot plan, but the selected robot plan cannot influence the predicted multi-agent evolution. This paper presents a joint prediction-planning diffusion framework that treats participant prediction and robot planning as a single conditional trajectory generation problem, where the model samples the future robot tr...
| Authors | Jiahao Wu, Shengwen Yu |
|---|---|
| Primary category | cs.RO |
| Published | 14 June 2026 |
| Last updated at source | 14 June 2026 |
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