FORTE: Forecasting Occupancy for Spatiotemporal Risk-Aware Planning in Dynamic Environments

arXiv:2609.39305 · cs.RO · Submitted 2026-09-30 · Read on arXiv

cs.RO

Submitted: 2026-09-30

Updated: 2026-09-30

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Diffusion Model — 7× in this paper · explained in 8 episodes
• Alignment — 6× in this paper · explained in 1 episode
• Transformer — 5× in this paper · explained in 2 episodes
• Ablation — 4× in this paper · explained in 1 episode
• Diffusion Models — 4× in this paper · explained in 6 episodes
• Success Rate — 4× in this paper
• Accuracy — 3× in this paper · explained in 1 episode
• Consistency — 3× in this paper · explained in 3 episodes
• Ablation study — 2× in this paper · explained in 1 episode
• Distillation — 2× in this paper · explained in 2 episodes
• IEEE International Conference on Robotics and Automation — 2× in this paper
• Latent Space — 2× in this paper · explained in 7 episodes
• Time to Goal — 2× in this paper
• World Model — 2× in this paper · explained in 7 episodes
• Attention Mechanism — 1× in this paper · explained in 2 episodes
• Generative Model — 1× in this paper · explained in 2 episodes
• Generative Models — 1× in this paper · explained in 2 episodes
• Knowledge Distillation — 1× in this paper · explained in 11 episodes
• Latent Diffusion Model — 1× in this paper · explained in 2 episodes
• Latent Diffusion Models — 1× in this paper · explained in 2 episodes
• Lyapunov function — 1× in this paper · explained in 2 episodes
• Reinforcement Learning — 1× in this paper · explained in 4 episodes
• Temporal consistency — 1× in this paper · explained in 2 episodes
• Trace — 1× in this paper · explained in 2 episodes
• Transformer Architecture — 1× in this paper · explained in 2 episodes

Sources

• Latent-Shift: Latent Diffusion with Temporal Shift for Efficient Text-to-Video Generation
• ForecastOcc: Vision-based Semantic Occupancy Forecasting
• ART-TEB: Adaptive Trajectory Planning for Mobile Robots in Cluttered Environments

Related papers

• FMT x: An Efficient and Asymptotically Optimal Extension of the Fast Marching Tree for Dynamic Replanning
• MPCFormer: A physics-informed data-driven approach for explainable socially-aware autonomous driving
• RoboLab: A High-Fidelity Simulation Benchmark for Analysis of Task Generalist Policies
• ARC: A Reasoning Recipe for Robot Foundation Models
• HRDexDB: A 4D Dexterous Grasping Dataset Across Human and Multiple Robot Embodiments
• APT: Action Expert Pretraining Improves Instruction Generalization of Vision-Language-Action Policies