Add line integral cost

README.md

@@ -1,6 +1,14 @@
 
 # You Only Plan Once
 
+---
+This branch includes some of the latest developments, including:
+
+- Add acceleration cost to prevent excessive initial acceleration
+
+- Change safety cost to a line integral to avoid uneven evaluation from time integration
+
+---
 Original Paper: [You Only Plan Once: A Learning-Based One-Stage Planner With Guidance Learning](https://ieeexplore.ieee.org/document/10528860)
 
 Improvements and Applications: [YOPOv2-Tracker: An End-to-End Agile Tracking and Navigation Framework from Perception to Action](https://arxiv.org/html/2505.06923v1)