Ehsan Javanmardi

To Route or to Adapt? Multi-Expert Diffusion Planners in Unseen Regions

Diffusion trajectory planners with domain-specific experts face a practical question in unseen regions: can they rely on selecting among existing experts, or must the planner itself adapt? We study this question using a planner with a shared adapter and per-domain expert adapters. Across three real-world held-out maps,...