Author

Mahsa Golchoubian

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#artificial intelligence Preprint Sep 2026

Guiding End-to-End Driving Models with Endpoint-Constrained Trajectory Optimization

Endpoint-Constrained Optimization (ECO), a lightweight postprocessing layer that anchors the trajectory to the vehicle's executed history, preserves the policy's predicted endpoint, and reshapes the intermediate waypoints to improve feasibility is introduced.

Brayden Zhang, Mahsa Golchoubian, Igor Gilitschenski et al. · 0 citations

Jul 2026

Belief-Aware Influence and Trust (BAIT): Shaping Human Belief During Repeated Human-Robot Interaction

Across simulations, a human-subject study, and a real-world GEM vehicle deployments in repeated lane-merging scenarios, BAIT achieves task performance comparable to baselines that optimize long-term influence through unpredictability while yielding significantly higher user trust.

Ye-Ji Mun, Mahsa Golchoubian, Shahabedin Sagheb et al. · arXiv.org · 0 citations