{"id":30745461,"url":"https://github.com/zju-fast-lab/dptraj","last_synced_at":"2025-09-04T03:47:03.236Z","repository":{"id":297045210,"uuid":"983988002","full_name":"ZJU-FAST-Lab/DPtraj","owner":"ZJU-FAST-Lab","description":null,"archived":false,"fork":false,"pushed_at":"2025-08-07T03:23:54.000Z","size":210242,"stargazers_count":63,"open_issues_count":0,"forks_count":5,"subscribers_count":9,"default_branch":"main","last_synced_at":"2025-08-07T05:26:45.622Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":null,"language":null,"has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/ZJU-FAST-Lab.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null,"zenodo":null}},"created_at":"2025-05-15T08:13:40.000Z","updated_at":"2025-08-07T04:12:02.000Z","dependencies_parsed_at":"2025-06-04T01:05:04.357Z","dependency_job_id":"b8b9d68b-3777-45b4-a074-de2d72ebc8c3","html_url":"https://github.com/ZJU-FAST-Lab/DPtraj","commit_stats":null,"previous_names":["zju-fast-lab/dptraj"],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/ZJU-FAST-Lab/DPtraj","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ZJU-FAST-Lab%2FDPtraj","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ZJU-FAST-Lab%2FDPtraj/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ZJU-FAST-Lab%2FDPtraj/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ZJU-FAST-Lab%2FDPtraj/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/ZJU-FAST-Lab","download_url":"https://codeload.github.com/ZJU-FAST-Lab/DPtraj/tar.gz/refs/heads/main","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ZJU-FAST-Lab%2FDPtraj/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":273549099,"owners_count":25125257,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","status":"online","status_checked_at":"2025-09-04T02:00:08.968Z","response_time":61,"last_error":null,"robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":true,"can_crawl_api":true,"host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2025-09-04T03:47:01.861Z","updated_at":"2025-09-04T03:47:03.222Z","avatar_url":"https://github.com/ZJU-FAST-Lab.png","language":null,"funding_links":[],"categories":[],"sub_categories":[],"readme":"# DPtraj\nA double-polynomial discription for trajectory interfaced with learning-based front end.\n\nThis work is presented in the paper: Hierarchically Depicting Vehicle Trajectory with Stability in Complex Environments, published in Science Robotics.\n\nThe backend trajectory optimizer improvements build upon our previous work (available at https://github.com/ZJU-FAST-Lab/Dftpav), where singularity issues were addressed. \n\nMoreover, the approach has recently been extended and applied to more complex multi-joint robotic platforms (see https://github.com/Tracailer/Tracailer).\n\n\nIf you find this repository helpful, please consider citing at least one of the following papers:\n\n```bibtex\n@article{han2025hierarchically,\n  title={Hierarchically depicting vehicle trajectory with stability in complex environments},\n  author={Han, Zhichao and Tian, Mengze and Gongye, Zaitian and Xue, Donglai and Xing, Jiaxi and Wang, Qianhao and Gao, Yuman and Wang, Jingping and Xu, Chao and Gao, Fei},\n  journal={Science Robotics},\n  volume={10},\n  number={103},\n  pages={eads4551},\n  year={2025},\n  publisher={American Association for the Advancement of Science}\n}\n@article{han2023efficient,\n  title={An efficient spatial-temporal trajectory planner for autonomous vehicles in unstructured environments},\n  author={Han, Zhichao and Wu, Yuwei and Li, Tong and Zhang, Lu and Pei, Liuao and Xu, Long and Li, Chengyang and Ma, Changjia and Xu, Chao and Shen, Shaojie and others},\n  journal={IEEE Transactions on Intelligent Transportation Systems},\n  volume={25},\n  number={2},\n  pages={1797--1814},\n  year={2023},\n  publisher={IEEE}\n}\n```\n\nThe code will be divided into several modules and gradually open-sourced in different branches. You can check out the following branches to try them out:\n\n*   **`backend`**: \n    - Efficient singularity-free backend optimization.\n    \n*   **`frontend_deploy`**:\n    - Deployment demo of learning-enhanced stable path planning.\n \n*   **`frontend_training`**:\n    - Training demo of learning-enhanced stable path planning.\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fzju-fast-lab%2Fdptraj","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fzju-fast-lab%2Fdptraj","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fzju-fast-lab%2Fdptraj/lists"}