相关论文: SafeCritic: Collision-Aware Trajectory Prediction

The ability to accurately predict the trajectory of surrounding vehicles is a critical hurdle to overcome on the journey to fully autonomous vehicles. To address this challenge, we pioneer a novel behavior-aware trajectory prediction model…

Provable safety is one of the most critical challenges in automated driving. The behavior of numerous traffic participants in a scene cannot be predicted reliably due to complex interdependencies and the indiscriminate behavior of humans.…

Risk-aware navigation in unknown environments is a fundamental challenge for autonomous vehicles operating in complex urban systems. To address this issue, this paper presents a differentiable optimization layered safety-critical control…

Connected and automated vehicles provide a new opportunity for highly advanced collision avoidance, in which several cars cooperate to reach an optimal overall outcome, that no single car acting in isolation could achieve. For example, one…

Safety-critical scenarios are essential for training and evaluating autonomous driving (AD) systems, yet remain extremely rare in real-world driving datasets. To address this, we propose Real-world Crash Grounding (RCG), a scenario…

Autonomous vehicles currently suffer from a time-inefficient driving style caused by uncertainty about human behavior in traffic interactions. Accurate and reliable prediction models enabling more efficient trajectory planning could make…

Forecasting the behavior of other agents is an integral part of the modern robotic autonomy stack, especially in safety-critical scenarios with human-robot interaction, such as autonomous driving. In turn, there has been a significant…

Real-world autonomous driving, particularly in urban environments with numerous corner cases, requires rigorous testing to ensure product safety and robustness. However, few studies have explored integrating adversarial scenario generation…

Predicting driver intentions is a difficult and crucial task for advanced driver assistance systems. Traditional confidence measures on predictions often ignore the way predicted trajectories affect downstream decisions for safe driving. In…

We present an optimization-based method to plan the motion of an autonomous robot under the uncertainties associated with dynamic obstacles, such as humans. Our method bounds the marginal risk of collisions at each point in time by…

Conformal prediction (CP) has emerged as a powerful tool in robotics and control, thanks to its ability to calibrate complex, data-driven models with formal guarantees. However, in robot navigation tasks, existing CP-based methods often…

Making accurate motion prediction of the surrounding traffic agents such as pedestrians, vehicles, and cyclists is crucial for autonomous driving. Recent data-driven motion prediction methods have attempted to learn to directly regress the…

Occlusion-aware prediction remains a critical challenge in autonomous driving due to the inherent uncertainty of unobserved regions. Existing approaches either overestimate risk based on reachable states or struggle to predict accurate…

Self-driving research often underrepresents cyclist collisions and safety. To address this, we present CycleCrash, a novel dataset consisting of 3,000 dashcam videos with 436,347 frames that capture cyclists in a range of critical…

Trajectory prediction using deep neural networks (DNNs) is an essential component of autonomous driving (AD) systems. However, these methods are vulnerable to adversarial attacks, leading to serious consequences such as collisions. In this…

Real-world physics can only be analytically modeled with a certain level of precision for modern intricate robotic systems. As a result, tracking aggressive trajectories accurately could be challenging due to the existence of residual…

We present a risk-aware formalism for evaluating system trajectories in the presence of uncertain interactions between the system and its environment. The proposed formalism supports reasoning under uncertainty and systematically handles…

The growing need for high-performance controllers in safety-critical applications like autonomous driving has been motivating the development of formal safety verification techniques. In this paper, we design and implement a predictive…

A novel decentralised trajectory generation algorithm for Multi Agent systems is presented. Multi-robot systems have the capacity to transform lives in a variety of fields. But, trajectory generation for multi-robot systems is still in its…

Trajectory prediction facilitates effective planning and decision-making, while constrained trajectory prediction integrates regulation into prediction. Recent advances in constrained trajectory prediction focus on structured constraints by…