Continuous optimization based motion planners require deciding on a maneuver homotopy before optimizing the trajectory. Under uncertainty, maneuver intentions of other participants can be unclear, and the vehicle might not be able to decide on the most suitable maneuver. This work introduces a method that incorporates multiple maneuver preferences in planning. It optimizes the trajectory by considering weighted maneuver preferences together with uncertainties ranging from perception to prediction while ensuring the feasibility of a chance-constrained fallback option. Evaluations in both driving experiments and simulation studies show enhanced interaction capabilities and comfort levels compared to conventional planners, which consider only a single maneuver.

Fox News Flash top entertainment and celebrity headlines are here. Check out what's clicking today in entertainment. Late comedy legend Jerry Stiller divvied up his roughly $5 million estate among his family, including kids Ben and Amy -- and also generously left funds to several New York organizations and former employees, The Post has learned. The actor, who died in May at 92, designated money for his longtime personal assistant and his since-deceased housekeeper, according to his will, dated March 2010 and filed in Manhattan Surrogate's court in September. The document notes that the $150,000 left to his assistant was "in recognition of her exceptional services toward enhancing the professional careers of myself and my wife for many years."

By aggregating vast quantities of data and uncovering subtle patterns, AI can reduce the cognitive burden on human cyber professionals and help create more resilient organizations. Cyber threats have long tested the resilience of organizations around the world, but the growing shift to virtual ways of working is dramatically altering the threat landscape, with the potential for greater risks than ever. Increasingly, AI can provide valuable assistance, not only in the race to detect new threats or the spread of new diseases, but also to uncover threat actors and criminal groups taking maximum advantage of the situation to target cyber vulnerabilities, according to Deborah Golden, U.S. cyber practice leader at Deloitte & Touche LLP. "Cyber is everywhere, and the gap in cyber talent remains a challenge," Golden said. "Adversaries can try thousands of times to attack any one cyber vulnerability, but they only need to be right once; in the fight against these threats, organizations need to be right every single time. Now, with so many people working remotely, many for the first time, the risks to data, systems, and networks are further compounded."

Though best known for his ability to make audiences laugh, actor, writer and director Ben Stiller is hoping his latest effort will make people stop and think. Stiller published an essay Tuesday morning revealing that he had been diagnosed with prostate cancer in June 2014. He was declared cancer-free in September of the same year. "The three months in between were a crazy roller coaster ride with which about 180,000 men a year in America can identify," Stiller wrote of the time. The publication of the essay was released in connection with Stiller's appearance on "The Howard Stern Show" where he first spoke of his diagnosis.