相关论文: Learning Representations from Road Network for End…

The majority of current approaches in autonomous driving rely on High-Definition (HD) maps which detail the road geometry and surrounding area. Yet, this reliance is one of the obstacles to mass deployment of autonomous vehicles due to poor…

Non-holonomic vehicle motion has been studied extensively using physics-based models. Common approaches when using these models interpret the wheel/ground interactions using a linear tire model and thus may not fully capture the nonlinear…

This paper presents a scalable deep learning approach for short-term traffic prediction based on historical traffic data in a vehicular road network. Capturing the spatio-temporal relationship of the big data often requires a significant…

We study the influence that population density and the road network have on each others' growth and evolution. We use a simple model of formation and evolution of city roads which reproduces the most important empirical features of street…

Traffic prediction is one of the key elements to ensure the safety and convenience of citizens. Existing traffic prediction models primarily focus on deep learning architectures to capture spatial and temporal correlation. They often…

We introduce TopoNets, end-to-end probabilistic deep networks for modeling semantic maps with structure reflecting the topology of large-scale environments. TopoNets build a unified deep network spanning multiple levels of abstraction and…

Extensive research has been devoted to the field of multi-agent navigation. Recently, there has been remarkable progress attributed to the emergence of learning-based techniques with substantially elevated intelligence and realism.…

Autonomous vehicles need to model the behavior of surrounding human driven vehicles to be safe and efficient traffic participants. Existing approaches to modeling human driving behavior have relied on both data-driven and rule-based…

We propose the use of deep neural networks (DNN) for solving the problem of inferring the position and relevant properties of lanes of urban roads with poor or absent horizontal signalization, in order to allow the operation of autonomous…

Knowledge graphs enable data scientists to learn end-to-end on heterogeneous knowledge. However, most end-to-end models solely learn from the relational information encoded in graphs' structure: raw values, encoded as literal nodes, are…

Recent studies on knowledge graph embedding focus on mapping entities and relations into low-dimensional vector spaces. While most existing models primarily exploit structural information, knowledge graphs also contain rich contextual and…

Network modeling is a key enabler to achieve efficient network operation in future self-driving Software-Defined Networks. However, we still lack functional network models able to produce accurate predictions of Key Performance Indicators…

In this study, we propose using a neural embedding model-graph neural network (GNN)- that leverages the heterogeneous features of urban areas and their interactions captured by human mobility network to obtain vector representations of…

Motion forecasting is crucial in enabling autonomous vehicles to anticipate the future trajectories of surrounding agents. To do so, it requires solving mapping, detection, tracking, and then forecasting problems, in a multi-step pipeline.…

While deep networks have been enormously successful over the last decade, they rely on flat-feature vector representations, which makes them unsuitable for richly structured domains such as those arising in applications like social network…

Predicting traffic conditions has been recently explored as a way to relieve traffic congestion. Several pioneering approaches have been proposed based on traffic observations of the target location as well as its adjacent regions, but they…

Robust perception-action models should be learned from training data with diverse visual appearances and realistic behaviors, yet current approaches to deep visuomotor policy learning have been generally limited to in-situ models learned…

In recent years, end-to-end autonomous driving architectures have gained increasing attention due to their advantage in avoiding error accumulation. Most existing end-to-end autonomous driving methods are based on Imitation Learning (IL),…

The analysis of the end-to-end behavior of novel mobile communication methods in concrete evaluation scenarios frequently results in a methodological dilemma: Real world measurement campaigns are highly time-consuming and lack of a…

We provide an efficient algorithm for determining how a road network has evolved over time, given two snapshot instances from different dates. To allow for such determinations across different databases and even against hand drawn maps, we…