Related papers: Interpretable Goal-Based model for Vehicle Traject…

Interpretable machine learning tackles the important problem that humans cannot understand the behaviors of complex machine learning models and how these models arrive at a particular decision. Although many approaches have been proposed, a…

Interaction-aware Autonomous Driving (IAAD) is a rapidly growing field of research that focuses on the development of autonomous vehicles (AVs) that are capable of interacting safely and efficiently with human road users. This is a…

Predicting vehicle trajectories, angle and speed is important for safe and comfortable driving. We demonstrate the best predicted angle, speed, and best performance overall winning the top three places of the ICCV 2019 Learning to Drive…

Trajectory forecasting has become a popular deep learning task due to its relevance for scenario simulation for autonomous driving. Specifically, trajectory forecasting predicts the trajectory of a short-horizon future for specific human…

We present CoverNet, a new method for multimodal, probabilistic trajectory prediction for urban driving. Previous work has employed a variety of methods, including multimodal regression, occupancy maps, and 1-step stochastic policies. We…

This paper proposes a framework to recognize driving intentions and to predict driving behaviors of lane changing on the highway by using externally sensable traffic data from the host-vehicle. The framework consists of a driving…

This paper aims to tackle the interactive behavior prediction task, and proposes a novel Conditional Goal-oriented Trajectory Prediction (CGTP) framework to jointly generate scene-compliant trajectories of two interacting agents. Our CGTP…

Pedestrian trajectory prediction is a critical technology in the evolution of self-driving cars toward complete artificial intelligence. Over recent years, focusing on the trajectories of pedestrians to model their social interactions has…

The decision and planning system for autonomous driving in urban environments is hard to design. Most current methods manually design the driving policy, which can be expensive to develop and maintain at scale. Instead, with imitation…

Effective understanding of dynamically evolving multiagent interactions is crucial to capturing the underlying behavior of agents in social systems. It is usually challenging to observe these interactions directly, and therefore modeling…

The task of intercepting a target moving along a rectilinear or circular trajectory by a Dubins' car is formulated as a time-optimal control problem with an arbitrary direction of the car's velocity at the interception moment. To solve this…

The challenge of traversability estimation is a crucial aspect of autonomous navigation in unstructured outdoor environments such as forests. It involves determining whether certain areas are passable or risky for robots, taking into…

Effective understanding of the environment and accurate trajectory prediction of surrounding dynamic obstacles are indispensable for intelligent mobile systems (like autonomous vehicles and social robots) to achieve safe and high-quality…

While intelligence of autonomous vehicles (AVs) has significantly advanced in recent years, accidents involving AVs suggest that these autonomous systems lack gracefulness in driving when interacting with human drivers. In the setting of a…

Lane change prediction of surrounding vehicles is a key building block of path planning. The focus has been on increasing the accuracy of prediction by posing it purely as a function estimation problem at the cost of model…

While autonomous vehicles still struggle to solve challenging situations during on-road driving, humans have long mastered the essence of driving with efficient, transferable, and adaptable driving capability. By mimicking humans' cognition…

Data in the real world often has an evolving distribution. Thus, machine learning models trained on such data get outdated over time. This phenomenon is called model drift. Knowledge of this drift serves two purposes: (i) Retain an accurate…

Motivated by the need to develop simulation tools for verification and validation of autonomous driving systems operating in traffic consisting of both autonomous and human-driven vehicles, we propose a framework for modeling vehicle…

Motion forecasting in highly interactive scenarios is a challenging problem in autonomous driving. In such scenarios, we need to accurately predict the joint behavior of interacting agents to ensure the safe and efficient navigation of…

Precisely predicting the future trajectories of surrounding traffic participants is a crucial but challenging problem in autonomous driving, due to complex interactions between traffic agents, map context and traffic rules. Vector-based…