{"id":"https://openalex.org/W4414747809","doi":"https://doi.org/10.1109/icra57385.2026.11696463","title":"CoPlanner: An Interactive Motion Planner with Contingency-Aware Diffusion for Autonomous Driving","display_name":"CoPlanner: An Interactive Motion Planner with Contingency-Aware Diffusion for Autonomous Driving","publication_year":2026,"publication_date":"2026-06-01","ids":{"openalex":"https://openalex.org/W4414747809","doi":"https://doi.org/10.1109/icra57385.2026.11696463"},"language":"en","primary_location":{"id":"doi:10.1109/icra57385.2026.11696463","doi":"https://doi.org/10.1109/icra57385.2026.11696463","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57385.2026.11696463","pdf_url":null,"source":{"id":"https://openalex.org/S4210217939","display_name":"Proceedings - IEEE International Conference on Robotics and Automation/Proceedings","issn_l":"1050-4729","issn":["1050-4729","2577-087X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","norway-1"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2026 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"volume":null,"type":"conference-paper","is_traditional":true,"indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2509.17080","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5102616478","display_name":"Ruiguo Zhong","orcid":"https://orcid.org/0009-0009-3711-892X","observed_orcids":["https://orcid.org/0009-0009-3711-892X"]},"institutions":[{"id":"https://openalex.org/I4405261251","display_name":"The Hong Kong University of Science and Technology (Guangzhou)","ror":"https://ror.org/050h0vm43","country_code":"CN","type":"education","lineage":["https://openalex.org/I4405261251"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ruiguo Zhong","raw_affiliation_strings":["The Hong Kong University of Science and Technology (Guangzhou)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Hong Kong University of Science and Technology (Guangzhou)","institution_ids":["https://openalex.org/I4405261251"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080403866","display_name":"Ruoyu Yao","orcid":"https://orcid.org/0000-0003-1754-1770","observed_orcids":["https://orcid.org/0000-0003-1754-1770"]},"institutions":[{"id":"https://openalex.org/I4405261251","display_name":"The Hong Kong University of Science and Technology (Guangzhou)","ror":"https://ror.org/050h0vm43","country_code":"CN","type":"education","lineage":["https://openalex.org/I4405261251"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ruoyu Yao","raw_affiliation_strings":["The Hong Kong University of Science and Technology (Guangzhou)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Hong Kong University of Science and Technology (Guangzhou)","institution_ids":["https://openalex.org/I4405261251"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100657261","display_name":"Pei Liu","orcid":"https://orcid.org/0000-0001-6098-5284","observed_orcids":["https://orcid.org/0000-0001-6098-5284"]},"institutions":[{"id":"https://openalex.org/I4405261251","display_name":"The Hong Kong University of Science and Technology (Guangzhou)","ror":"https://ror.org/050h0vm43","country_code":"CN","type":"education","lineage":["https://openalex.org/I4405261251"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Pei Liu","raw_affiliation_strings":["The Hong Kong University of Science and Technology (Guangzhou)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Hong Kong University of Science and Technology (Guangzhou)","institution_ids":["https://openalex.org/I4405261251"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100365885","display_name":"Xiaolong Chen","orcid":"https://orcid.org/0000-0002-2574-3906","observed_orcids":["https://orcid.org/0000-0002-2574-3906","https://orcid.org/0009-0004-4454-4330"]},"institutions":[{"id":"https://openalex.org/I4405261251","display_name":"The Hong Kong University of Science and Technology (Guangzhou)","ror":"https://ror.org/050h0vm43","country_code":"CN","type":"education","lineage":["https://openalex.org/I4405261251"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaolong Chen","raw_affiliation_strings":["The Hong Kong University of Science and Technology (Guangzhou)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Hong Kong University of Science and Technology (Guangzhou)","institution_ids":["https://openalex.org/I4405261251"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101772424","display_name":"Rui Yang","orcid":"https://orcid.org/0000-0003-0564-6452","observed_orcids":["https://orcid.org/0000-0003-0564-6452"]},"institutions":[{"id":"https://openalex.org/I4405261251","display_name":"The Hong Kong University of Science and Technology (Guangzhou)","ror":"https://ror.org/050h0vm43","country_code":"CN","type":"education","lineage":["https://openalex.org/I4405261251"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rui Yang","raw_affiliation_strings":["The Hong Kong University of Science and Technology (Guangzhou)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Hong Kong University of Science and Technology (Guangzhou)","institution_ids":["https://openalex.org/I4405261251"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5053340150","display_name":"Jun Ma","orcid":"https://orcid.org/0000-0002-9405-8232","observed_orcids":["https://orcid.org/0000-0002-9405-8232"]},"institutions":[{"id":"https://openalex.org/I4405261251","display_name":"The Hong Kong University of Science and Technology (Guangzhou)","ror":"https://ror.org/050h0vm43","country_code":"CN","type":"education","lineage":["https://openalex.org/I4405261251"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jun Ma","raw_affiliation_strings":["The Hong Kong University of Science and Technology (Guangzhou)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Hong Kong University of Science and Technology (Guangzhou)","institution_ids":["https://openalex.org/I4405261251"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I4405261251"],"apc_list":null,"apc_paid":null,"fwci":25.8584,"has_fulltext":true,"cited_by_count":5,"citation_normalized_percentile":{"value":0.99225845,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"605","last_page":"612"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9448000192642212,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9448000192642212,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.03150000050663948,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10370","display_name":"Traffic and Road Safety","score":0.00279999990016222,"subfield":{"id":"https://openalex.org/subfields/2213","display_name":"Safety, Risk, Reliability and Quality"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/autonomous-driving","display_name":"autonomous driving","score":0.902999997138977},{"id":"https://openalex.org/keywords/motion-planning","display_name":"motion planning","score":0.8600000143051147},{"id":"https://openalex.org/keywords/trajectory-prediction","display_name":"trajectory prediction","score":0.8960000276565552},{"id":"https://openalex.org/keywords/diffusion-models","display_name":"diffusion models","score":0.753000020980835},{"id":"https://openalex.org/keywords/multi-agent-interaction","display_name":"multi-agent interaction","score":0.7649999856948853},{"id":"https://openalex.org/keywords/fallback-strategies","display_name":"fallback strategies","score":0.7369999885559082},{"id":"https://openalex.org/keywords/interactive-traffic","display_name":"interactive traffic","score":0.4519999921321869},{"id":"https://openalex.org/keywords/trajectory-consistency","display_name":"trajectory consistency","score":0.4569999873638153}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7325999736785889},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.677299976348877},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6658999919891357},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.5149000287055969},{"id":"https://openalex.org/C185798385","wikidata":"https://www.wikidata.org/wiki/Q1161707","display_name":"Benchmark (surveying)","level":2,"score":0.4997999966144562},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.47760000824928284},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4377000033855438},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.43470001220703125},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.41819998621940613},{"id":"https://openalex.org/C48007421","wikidata":"https://www.wikidata.org/wiki/Q676252","display_name":"Motion capture","level":3,"score":0.3427000045776367},{"id":"https://openalex.org/C205606062","wikidata":"https://www.wikidata.org/wiki/Q5249645","display_name":"Decoupling (probability)","level":2,"score":0.31709998846054077},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.3149999976158142},{"id":"https://openalex.org/C2780801425","wikidata":"https://www.wikidata.org/wiki/Q5164392","display_name":"Construct (python library)","level":2,"score":0.30219998955726624},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.289900004863739},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.28369998931884766},{"id":"https://openalex.org/C87833898","wikidata":"https://www.wikidata.org/wiki/Q1060280","display_name":"Advanced driver assistance systems","level":2,"score":0.27869999408721924},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.26339998841285706}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icra57385.2026.11696463","doi":"https://doi.org/10.1109/icra57385.2026.11696463","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57385.2026.11696463","pdf_url":null,"source":{"id":"https://openalex.org/S4210217939","display_name":"Proceedings - IEEE International Conference on Robotics and Automation/Proceedings","issn_l":"1050-4729","issn":["1050-4729","2577-087X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","norway-1"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2026 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:2509.17080","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2509.17080","pdf_url":"https://arxiv.org/pdf/2509.17080","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"doi:10.48550/arxiv.2509.17080","doi":"https://doi.org/10.48550/arxiv.2509.17080","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2509.17080","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2509.17080","doi":null,"is_oa":true,"landing_page_url":"http://arxiv.org/abs/2509.17080","pdf_url":"https://arxiv.org/pdf/2509.17080","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4414747809.pdf","grobid_xml":"https://content.openalex.org/works/W4414747809.grobid-xml"},"referenced_works_count":9,"referenced_works":["https://openalex.org/W4395065796","https://openalex.org/W4405095234","https://openalex.org/W4409364610","https://openalex.org/W4413017788","https://openalex.org/W4413917542","https://openalex.org/W4415142194","https://openalex.org/W4415796379","https://openalex.org/W4416113681","https://openalex.org/W7131827335"],"related_works":["https://openalex.org/W7125960969","https://openalex.org/W7147221489","https://openalex.org/W4409364610","https://openalex.org/W4392843893","https://openalex.org/W7214631347","https://openalex.org/W7136362512","https://openalex.org/W7163378791","https://openalex.org/W7125920477","https://openalex.org/W7162858481","https://openalex.org/W3011720781"],"abstract_inverted_index":{"Accurate":[0],"trajectory":[1,31,103,115],"prediction":[2,66],"and":[3,45,67,105,161,170,198,206,211,215],"motion":[4,107,136],"planning":[5,68],"are":[6,52],"crucial":[7],"for":[8,54],"autonomous":[9],"driving":[10],"systems":[11],"to":[12,42,123,176],"navigate":[13],"safely":[14],"in":[15,56,72,80,204],"complex,":[16],"interactive":[17,82,102],"environments":[18],"characterized":[19],"by":[20],"multimodal":[21,135],"uncertainties.":[22],"However,":[23],"current":[24],"generation-then-evaluation":[25],"frameworks":[26],"typically":[27],"construct":[28],"multiple":[29,153],"plausible":[30,154],"hypotheses":[32],"but":[33,58],"ultimately":[34],"adopt":[35],"a":[36,46,90,95,118,142],"single":[37],"most":[38],"likely":[39],"outcome,":[40],"leading":[41,175],"overconfident":[43],"decisions":[44],"lack":[47],"of":[48,65],"fallback":[49,168],"strategies":[50],"that":[51,98,133,147,189],"vital":[53],"safety":[55,205],"rare":[57],"critical":[59],"scenarios.":[60],"Moreover,":[61],"the":[62,110,185],"usual":[63],"decoupling":[64],"modules":[69],"could":[70],"result":[71],"socially":[73],"inconsistent":[74],"or":[75],"unrealistic":[76],"joint":[77],"trajectories,":[78],"especially":[79],"highly":[81],"traffic.":[83],"To":[84],"address":[85],"these":[86],"challenges,":[87],"we":[88,140],"propose":[89],"contingency-aware":[91,106,143],"diffusion":[92,112],"planner":[93],"(CoPlanner),":[94],"unified":[96],"framework":[97],"jointly":[99],"models":[100],"multi-agent":[101],"generation":[104],"planning.":[108,180],"Specifically,":[109],"pivot-conditioned":[111],"mechanism":[113],"anchors":[114],"sampling":[116],"on":[117,184,195],"validated,":[119],"shared":[120],"short-term":[121],"segment":[122],"preserve":[124],"temporal":[125],"consistency,":[126],"while":[127],"stochastically":[128],"generating":[129],"diverse":[130],"long-horizon":[131,155],"branches":[132],"capture":[134],"evolutions.":[137],"In":[138],"parallel,":[139],"design":[141,165],"multi-scenario":[144],"scoring":[145],"strategy":[146],"evaluates":[148],"candidate":[149],"ego":[150],"trajectories":[151],"across":[152],"evolution":[156],"scenarios,":[157],"balancing":[158],"safety,":[159],"progress,":[160],"comfort.":[162],"This":[163],"integrated":[164],"preserves":[166],"feasible":[167],"options":[169],"enhances":[171],"robustness":[172],"under":[173,208],"uncertainty,":[174],"more":[177],"realistic":[178],"interaction-aware":[179],"Extensive":[181],"closed-loop":[182],"experiments":[183],"nuPlan":[186],"benchmark":[187],"demonstrate":[188],"CoPlanner":[190],"consistently":[191],"surpasses":[192],"state-of-the-art":[193],"methods":[194],"both":[196,209],"Val14":[197],"Test14":[199],"datasets,":[200],"achieving":[201],"significant":[202],"improvements":[203],"comfort":[207],"reactive":[210],"non-reactive":[212],"settings.":[213],"Code":[214],"model":[216],"will":[217],"be":[218],"made":[219],"publicly":[220],"available":[221],"upon":[222],"acceptance.":[223]},"counts_by_year":[{"year":2026,"cited_by_count":5}],"updated_date":"2026-11-07T11:25:07.637180","created_date":"2025-10-10T00:00:00"}
