Kinematics-aware Trajectory Generation and Prediction with Latent SDE

This work introduces a kinematics-aware framework for trajectory generation and prediction using latent stochastic differential equations (SDEs). The approach ensures that generated trajectories respect physical constraints and kinematic limitations while maintaining predictive accuracy in uncertain environments.

Authors: Simon Sinong Zhan, Qingyuan Wu, Yixuan Wang, Chao Huang, Qi Zhu

@inproceedings{zhan2024kinematics, title={Kinematics-aware Trajectory Generation and Prediction with Latent SDE}, author={Zhan, Sinong Simon and Wu, Qingyuan and Wang, Yixuan and Huang, Chao and Zhu, Qi}, booktitle={IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, year={2024}, url={https://arxiv.org/abs/2309.09317} }