Module conformal_sipp 

Conformal Prediction Safe Interval Path Planning (CP-SIPP).

This module reproduces the global-planning slice from Liang et al., “Time-aware Motion Planning in Dynamic Environments with Conformal Prediction” (L4DC 2026). It converts predicted obstacle trajectories plus calibration nonconformity scores into confidence-filtered safe intervals, then delegates the compressed interval search to the existing SIPP implementation.

Structs

ConformalSippConfig

Configuration for CP-SIPP over a discrete grid and finite time horizon.

ConformalSippPlan

A CP-SIPP path plus trajectory-level confidence summary.

ConformalSippPlanner

CP-SIPP planner with a fixed confidence threshold.

PredictedObstaclePoint

A predicted obstacle position at a discrete planning time.

PredictedObstacleTrajectory

A discrete predicted trajectory for one dynamic obstacle.