相关论文: Perceive, Attend, and Drive: Learning Spatial Atte…

End-to-end autonomous driving has made impressive progress in recent years. Existing methods usually adopt the decoupled encoder-decoder paradigm, where the encoder extracts hidden features from raw sensor data, and the decoder outputs the…

Advanced Driver-Assistance Systems (ADAS) have been attracting attention from many researchers. Vision-based sensors are the closest way to emulate human driver visual behavior while driving. In this paper, we explore possible ways to use…

For autonomous driving in highly dynamic environments, it is anticipated to predict the future behaviors of surrounding vehicles (SVs) and make safe and effective decisions. However, modeling the inherent coupling effect between the…

We establish the universal approximation capability of single-layer, single-head self- and cross-attention mechanisms with minimal attached structures. Our key insight is to interpret single-head attention as an input domain-partition…

End-to-end autonomous driving has achieved remarkable advancements in recent years. Existing methods primarily follow a perception-planning paradigm, where perception and planning are executed sequentially within a fully differentiable…

Vehicle taillight recognition is an important application for automated driving, especially for intent prediction of ado vehicles and trajectory planning of the ego vehicle. In this work, we propose an end-to-end deep learning framework to…

Inspired by the observation that humans are able to process videos efficiently by only paying attention where and when it is needed, we propose an interpretable and easy plug-in spatial-temporal attention mechanism for video action…

An attention matrix of a transformer self-attention sublayer can provably be decomposed into two components and only one of them (effective attention) contributes to the model output. This leads us to ask whether visualizing effective…

Two prominent strategies that the human visual system uses to reduce incoming information are spatial integration and selective attention. Although spatial integration summarizes and combines information over the visual field, selective…

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…

This paper addresses the problem of understanding joint attention in third-person social scene videos. Joint attention is the shared gaze behaviour of two or more individuals on an object or an area of interest and has a wide range of…

Foresighted robot navigation in dynamic indoor environments with cost-efficient hardware necessitates the use of a lightweight yet dependable controller. So inferring the scene dynamics from sensor readings without explicit object tracking…

In this paper, we present an end-to-end future-prediction model that focuses on pedestrian safety. Specifically, our model uses previous video frames, recorded from the perspective of the vehicle, to predict if a pedestrian will cross in…

We introduce learned attention models into the radio machine learning domain for the task of modulation recognition by leveraging spatial transformer networks and introducing new radio domain appropriate transformations. This attention…

Self-attention is essential to Transformer architectures, yet how information is embedded in the self-attention matrices and how different objective functions impact this process remains unclear. We present a mathematical framework to…

Many machine learning models use the manipulation of dimensions as a driving force to enable models to identify and learn important features in data. In the case of sequential data this manipulation usually happens on the token dimension…

The inherent sequential modeling capabilities of autoregressive models make them a formidable baseline for end-to-end planning in autonomous driving. Nevertheless, their performance is constrained by a spatio-temporal misalignment, as the…

Accurate identification of important objects in the scene is a prerequisite for safe and high-quality decision making and motion planning of intelligent agents (e.g., autonomous vehicles) that navigate in complex and dynamic environments.…

We propose Sparse Sinkhorn Attention, a new efficient and sparse method for learning to attend. Our method is based on differentiable sorting of internal representations. Concretely, we introduce a meta sorting network that learns to…

In this work we aim to predict the driver's focus of attention. The goal is to estimate what a person would pay attention to while driving, and which part of the scene around the vehicle is more critical for the task. To this end we propose…