{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,19]],"date-time":"2026-05-19T14:55:15Z","timestamp":1779202515193,"version":"3.51.4"},"reference-count":41,"publisher":"MDPI AG","issue":"15","license":[{"start":{"date-parts":[[2023,7,28]],"date-time":"2023-07-28T00:00:00Z","timestamp":1690502400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Qualcomm"},{"name":"the National Science Foundation"},{"name":"Nissan"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>This work explores methodologies for dynamic trajectory generation for urban driving environments by utilizing coarse global plan representations. In contrast to state-of-the-art architectures for autonomous driving that often leverage lane-level high-definition (HD) maps, we focus on minimizing required map priors that are needed to navigate in dynamic environments that may change over time. To incorporate high-level instructions (i.e., turn right vs. turn left at intersections), we compare various representations provided by lightweight and open-source OpenStreetMaps (OSM) and formulate a conditional generative model strategy to explicitly capture the multimodal characteristics of urban driving. To evaluate the performance of the models introduced, a data collection phase is performed using multiple full-scale vehicles with ground truth labels. Our results show potential use cases in dynamic urban driving scenarios with real-time constraints. The dataset is released publicly as part of this work in combination with code and benchmarks.<\/jats:p>","DOI":"10.3390\/s23156764","type":"journal-article","created":{"date-parts":[[2023,7,31]],"date-time":"2023-07-31T02:13:32Z","timestamp":1690769612000},"page":"6764","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":2,"title":["Conditional Generative Models for Dynamic Trajectory Generation and Urban Driving"],"prefix":"10.3390","volume":"23","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-0766-6772","authenticated-orcid":false,"given":"David","family":"Paz","sequence":"first","affiliation":[{"name":"Autonomous Vehicle Laboratory, Contextual Robotics Institute, University of California San Diego, La Jolla, CA 92093, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0696-1561","authenticated-orcid":false,"given":"Hengyuan","family":"Zhang","sequence":"additional","affiliation":[{"name":"Autonomous Vehicle Laboratory, Contextual Robotics Institute, University of California San Diego, La Jolla, CA 92093, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7591-9546","authenticated-orcid":false,"given":"Hao","family":"Xiang","sequence":"additional","affiliation":[{"name":"Autonomous Vehicle Laboratory, Contextual Robotics Institute, University of California San Diego, La Jolla, CA 92093, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Andrew","family":"Liang","sequence":"additional","affiliation":[{"name":"Autonomous Vehicle Laboratory, Contextual Robotics Institute, University of California San Diego, La Jolla, CA 92093, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7465-7502","authenticated-orcid":false,"given":"Henrik I.","family":"Christensen","sequence":"additional","affiliation":[{"name":"Autonomous Vehicle Laboratory, Contextual Robotics Institute, University of California San Diego, La Jolla, CA 92093, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2023,7,28]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"100","DOI":"10.1109\/TSSC.1968.300136","article-title":"A Formal Basis for the Heuristic Determination of Minimum Cost Paths","volume":"4","author":"Hart","year":"1968","journal-title":"IEEE Trans. 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