相关论文: Imagining The Road Ahead: Multi-Agent Trajectory P…

In multiagent environments, several decision-making individuals interact while adhering to the dynamics constraints imposed by the environment. These interactions, combined with the potential stochasticity of the agents' decision-making…

We address the problem of forecasting pedestrian and vehicle trajectories in unknown environments, conditioned on their past motion and scene structure. Trajectory forecasting is a challenging problem due to the large variation in scene…

This paper presents a novel approach to Autonomous Vehicle (AV) control through the application of active inference, a theory derived from neuroscience that conceptualizes the brain as a predictive machine. Traditional autonomous driving…

The behavioral dynamics of multi-agent systems have a rich and orderly structure, which can be leveraged to understand these systems, and to improve how artificial agents learn to operate in them. Here we introduce Relational Forward Models…

To safely operate, an autonomous vehicle must know the future behavior of a potentially high number of interacting agents around it, a task often posed as multi-agent trajectory prediction. Many previous attempts to model social…

Large-scale video generation models have demonstrated high visual realism in diverse contexts, spurring interest in their potential as general-purpose world simulators. Existing benchmarks focus on individual subjects rather than scenes…

In order to enable high-quality decision making and motion planning of intelligent systems such as robotics and autonomous vehicles, accurate probabilistic predictions for surrounding interactive objects is a crucial prerequisite. Although…

We describe in this article a multiagent urban traffic simulation, as we believe individual-based modeling is necessary to encompass the complex influence the actions of an individual vehicle can have on the overall flow of vehicles. We…

In this study, our goal is to create interactive avatar agents that can autonomously plan and animate nuanced facial movements realistically, from both visual and behavioral perspectives. Given high-level inputs about the environment and…

Inferring interactions from multi-agent trajectories has broad applications in physics, vision and robotics. Neural relational inference (NRI) is a deep generative model that can reason about relations in complex dynamics without…

This paper proposes an online path planning and motion generation algorithm for heterogeneous robot teams performing target search in a real-world environment. Path selection for each robot is optimized using an information-theoretic…

Flight trajectory prediction for multiple aircraft is essential and provides critical insights into how aircraft navigate within current air traffic flows. However, predicting multi-agent flight trajectories is inherently challenging. One…

Realistic scene-level multi-agent motion simulations are crucial for developing and evaluating self-driving algorithms. However, most existing works focus on generating trajectories for a certain single agent type, and typically ignore the…

We propose an approach to simulating trajectories of multiple interacting agents (road users) based on transformers and probabilistic graphical models (PGMs), and apply it to the Waymo SimAgents challenge. The transformer baseline is based…

Predicting future motions of nearby agents is essential for an autonomous vehicle to take safe and effective actions. In this paper, we propose TSGN, a framework using Temporal Scene Graph Neural Networks with projected vectorized…

One of the most critical pieces of the self-driving puzzle is the task of predicting future movement of surrounding traffic actors, which allows the autonomous vehicle to safely and effectively plan its future route in a complex world.…

Simulating diverse and realistic traffic scenarios is critical for developing and testing autonomous planning. Traditional rule-based planners lack diversity and realism, while learning-based simulators often replay, forecast, or edit…

Path planning plays a crucial role in robot action execution, since a path or a motion trajectory for a particular action has to be defined first before the action can be executed. Most of the current approaches are iterative methods where…

Tactical decision making is a critical feature for advanced driving systems, that incorporates several challenges such as complexity of the uncertain environment and reliability of the autonomous system. In this work, we develop a…

Understanding the behavior of road users is of vital importance for the development of trajectory prediction systems. In this context, the latest advances have focused on recurrent structures, establishing the social interaction between the…