Technology · Planning
Planning from a shared scene.
In the classical stack, the planner consumes a trajectory distribution. AREN’s planning head consumes the same scene representation the perception head does. Prediction is not a separate module; it is what the model does when asked for future occupancy.
Collapsing the perception → prediction → planning chain into one model removes three handcrafted interfaces. What remains is a model that can be queried at different temporal horizons: now, a second from now, five seconds from now.
The safety contract is not absorbed into the model. AREN publishes intent into a certified arbitration layer that enforces hard constraints — lane boundaries, stopping distance, hand-off to the deterministic fallback. The intent from the model is a proposal, not a commitment.
Concrete planning benchmarks will appear in research notes once they are measured end-to-end in a reference configuration.