相关论文: DenseTNT: Waymo Open Dataset Motion Prediction Cha…

In recent years, there is a shift from modeling the tracking problem based on Bayesian formulation towards using deep neural networks. Towards this end, in this paper the effectiveness of various deep neural networks for predicting future…

In this paper, we present Goal-GAN, an interpretable and end-to-end trainable model for human trajectory prediction. Inspired by human navigation, we model the task of trajectory prediction as an intuitive two-stage process: (i) goal…

The ability to predict multiple possible future positions of the ego-vehicle given the surrounding context while also estimating their probabilities is key to safe autonomous driving. Most of the current state-of-the-art Deep Learning…

Accurate trajectory prediction of road agents (e.g., pedestrians, vehicles) is an essential prerequisite for various intelligent systems applications, such as autonomous driving and robotic navigation. Recent research highlights the…

Recently, the application of autonomous driving in open-pit mining has garnered increasing attention for achieving safe and efficient mineral transportation. Compared to urban structured roads, unstructured roads in mining sites have uneven…

To safely and efficiently navigate in complex urban traffic, autonomous vehicles must make responsible predictions in relation to surrounding traffic-agents (vehicles, bicycles, pedestrians, etc.). A challenging and critical task is to…

We present our approach, Collision Avoidance Detour (CAD), which won the 3rd place award in the 2023 Waymo Open Dataset Challenge - Sim Agents, held at the 2023 CVPR Workshop on Autonomous Driving. To satisfy the motion prediction…

Moving object Detection (MOD) is a critical task in autonomous driving as moving agents around the ego-vehicle need to be accurately detected for safe trajectory planning. It also enables appearance agnostic detection of objects based on…

Predicting the future motion of road participants is crucial for autonomous driving but is extremely challenging due to staggering motion uncertainty. Recently, most motion forecasting methods resort to the goal-based strategy, i.e.,…

Current methods for trajectory prediction operate in supervised manners, and therefore require vast quantities of corresponding ground truth data for training. In this paper, we present a novel, label-free algorithm, AutoTrajectory, for…

The ability to accurately predict feasible multimodal future trajectories of surrounding traffic participants is crucial for behavior planning in autonomous vehicles. The Motion Transformer (MTR), a state-of-the-art motion prediction…

It is desirable to predict the behavior of traffic participants conditioned on different planned trajectories of the autonomous vehicle. This allows the downstream planner to estimate the impact of its decisions. Recent approaches for…

Predicting the motion of other agents in a scene is highly relevant for autonomous driving, as it allows a self-driving car to anticipate. Inspired by the success of decoder-only models for language modeling, we propose DONUT, a…

Trajectory prediction for autonomous driving must continuously reason the motion stochasticity of road agents and comply with scene constraints. Existing methods typically rely on one-stage trajectory prediction models, which condition…

Accurate vehicle trajectory prediction is critical for safe and efficient autonomous driving, especially in mixed traffic environments when both human-driven and autonomous vehicles co-exist. However, uncertainties introduced by inherent…

Data-driven autonomous driving motion generation tasks are frequently impacted by the limitations of dataset size and the domain gap between datasets, which precludes their extensive application in real-world scenarios. To address this…

Tracking objects in three-dimensional space is critical for autonomous driving. To ensure safety while driving, the tracker must be able to reliably track objects across frames and accurately estimate their states such as velocity and…

At present, a major challenge for the application of automatic driving technology is the accurate prediction of vehicle trajectory. With the vigorous development of computer technology and the emergence of convolution depth neural network,…

Predicting ego vehicle trajectories remains a critical challenge, especially in urban and dense areas due to the unpredictable behaviours of other vehicles and pedestrians. Multimodal trajectory prediction enhances decision-making by…

In this technical report, we introduce TrajTok, a trajectory tokenizer for discrete next-token-prediction based behavior generation models, which combines data-driven and rule-based methods with better coverage, symmetry and robustness,…