JPPD: Joint Prediction_Planning Diffusion with Differentiable Safety Guidance for Dynamic Obstacle Avoidance in Intelligent Transportation Systems (opens in new tab)

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 pre...