相关论文: Perception as prediction using general value funct…

Predicting the motion of multiple agents is necessary for planning in dynamic environments. This task is challenging for autonomous driving since agents (e.g. vehicles and pedestrians) and their associated behaviors may be diverse and…

Accurately forecasting the motion of traffic actors is crucial for the deployment of autonomous vehicles at a large scale. Current trajectory forecasting approaches primarily concentrate on optimizing a loss function with a specific metric,…

In this paper, we present a novel information processing architecture for safe deep learning-based visual navigation of autonomous systems. The proposed information processing architecture is used to support a perceptual attention-based…

While automated driving technology has achieved a tremendous progress, the scalable and rigorous testing and verification of safe automated and autonomous driving vehicles remain challenging. This paper proposes a learning-based…

Accurately modeling the behavior of traffic participants is essential for safely and efficiently navigating an autonomous vehicle through heavy traffic. We propose a method, based on the intelligent driver model, that allows us to…

We propose JFP, a Joint Future Prediction model that can learn to generate accurate and consistent multi-agent future trajectories. For this task, many different methods have been proposed to capture social interactions in the encoding part…

Automated driving systems require monitoring mechanisms to ensure safe operation, especially if system components degrade or fail. Their runtime self-representation plays a key role as it provides a-priori knowledge about the system's…

Public acceptance is critical to the adoption of Shared Autonomous Vehicles (SAVs) in the transport sector. Traditional acceptance models, primarily reliant on Structural Equation Modeling, may not adequately capture the complex, non-linear…

Human-vehicle cooperative driving has become the critical technology of autonomous driving, which reduces the workload of human drivers. However, the complex and uncertain road environments bring great challenges to the visual perception of…

Self-driving vehicles rely on sensory input to monitor their surroundings and continuously adapt to the most likely future road course. Predictive trajectory planning is based on snapshots of the (uncertain) road course as a key input.…

We present an approach to learn an object-centric forward model, and show that this allows us to plan for sequences of actions to achieve distant desired goals. We propose to model a scene as a collection of objects, each with an explicit…

In order to explore and act autonomously in an environment, an agent needs to learn from the sensorimotor information that is captured while acting. By extracting the regularities in this sensorimotor stream, it can learn a model of the…

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…

Predicting agents' behavior for vehicles and pedestrians is challenging due to a myriad of factors including the uncertainty attached to different intentions, inter-agent interactions, traffic (environment) rules, individual inclinations,…

Predictions of driver's intentions and their behaviors using the road is of great importance for planning and decision making processes of autonomous driving vehicles. In particular, relatively short-term driving intentions are the…

Highway driving invariably combines high speeds with the need to interact closely with other drivers. Prediction methods enable autonomous vehicles (AVs) to anticipate drivers' future trajectories and plan accordingly. Kinematic methods for…

Autonomous driving is a multi-agent setting where the host vehicle must apply sophisticated negotiation skills with other road users when overtaking, giving way, merging, taking left and right turns and while pushing ahead in unstructured…

Predicting the trajectories of surrounding agents is an essential ability for autonomous vehicles navigating through complex traffic scenes. The future trajectories of agents can be inferred using two important cues: the locations and past…

Prediction, decision-making, and motion planning are essential for autonomous driving. In most contemporary works, they are considered as individual modules or combined into a multi-task learning paradigm with a shared backbone but separate…

Navigation is an essential ability for mobile agents to be completely autonomous and able to perform complex actions. However, the problem of navigation for agents with limited (or no) perception of the world, or devoid of a fully defined…