Recent advancements in Language Models (LMs) have demonstrated strong semantic reasoning capabilities, enabling their application in high-level decision-making for autonomous driving (AD). However, LM...
Motion planning through narrow passages remains a core challenge: sampling-based planners rarely place samples inside these narrow but critical regions, and even when samples land inside a passage, th...
The objective of constrained motion planning is to connect start and goal configurations while satisfying task-specific constraints. Motion planning becomes inefficient or infeasible when the configur...