arxivcs.RO2026-07-16
DRIFT: Drift and Aggregation for Motion Planning
Yining Xing, Zhiyuan Liu, Zehong Ke, Wenhao Yu, Jianqiang Wang
End-to-end trajectory planners need to represent multiple plausible driving behaviors while producing a single executable trajectory under real-time constraints. Proposal-based approaches address this ambiguity by generating multiple candidates, but converting the proposal set in…