תכנון רב-מודאלי לנהיגה אוטונומית

תקציר מקורי באנגליתarXiv:2609.39995v2 Announce Type: new Abstract: Diffusion planners exhibit strong capabilities in generating multimodal trajectories. However, existing methods primarily rely on expert demonstrations to fit trajectory distributions, learning statistical correlations among scenes, behaviors, and trajectories without explicitly modeling driving rules. In long-tail scenarios where expert data are scarce, the lack of behaviors to imitate may lead to trajectories that violate safety or compliance requirements. Moreover, their generation process lacks rule-level explanations, making it difficult to determine which rules drive trajectory adjustments, when they take effect, and how strongly they act, thereby limiting failure diagnosis, safety validation, and targeted improvement. To address these