相关论文: Multi-modal Motion Prediction with Transformer-bas…

Autonomous transportation systems such as road vehicles or vessels require the consideration of the static and dynamic environment to dislocate without collision. Anticipating the behavior of an agent in a given situation is required to…

In most classical Autonomous Vehicle (AV) stacks, the prediction and planning layers are separated, limiting the planner to react to predictions that are not informed by the planned trajectory of the AV. This work presents a module that…

Transformer has significantly propelled the development of artificial intelligence, and certainly the development of agents as well. We categorize attention structures of Transformer into two types based on the source of the input…

Autonomous parking plays a vital role in intelligent vehicle systems, particularly in constrained urban environments where high-precision control is required. While traditional rule-based parking systems struggle with environmental…

Route planning for a fleet of vehicles is an important task in applications such as package delivery, surveillance, or transportation, often integrated within larger Intelligent Transportation Systems (ITS). This problem is commonly…

While attention has been empirically shown to improve model performance, it lacks a rigorous mathematical justification. This short paper establishes a novel connection between attention mechanisms and multinomial regression. Specifically,…

Trajectory prediction in autonomous driving relies on accurate representation of all relevant contexts of the driving scene, including traffic participants, road topology, traffic signs, as well as their semantic relations to each other.…

For autonomous vehicles (AVs) to behave appropriately on roads populated by human-driven vehicles, they must be able to reason about the uncertain intentions and decisions of other drivers from rich perceptual information. Towards these…

The design of a safe and reliable Autonomous Driving stack (ADS) is one of the most challenging tasks of our era. These ADS are expected to be driven in highly dynamic environments with full autonomy, and a reliability greater than human…

Anticipating human actions is an important task that needs to be addressed for the development of reliable intelligent agents, such as self-driving cars or robot assistants. While the ability to make future predictions with high accuracy is…

Car-following refers to a control process in which the following vehicle (FV) tries to keep a safe distance between itself and the lead vehicle (LV) by adjusting its acceleration in response to the actions of the vehicle ahead. The…

Dynamic graph learning plays a pivotal role in modeling evolving relationships over time, especially for temporal link prediction tasks in domains such as traffic systems, social networks, and recommendation platforms. While…

We address multi-modal trajectory forecasting of agents in unknown scenes by formulating it as a planning problem. We present an approach consisting of three models; a goal prediction model to identify potential goals of the agent, an…

Trajectory prediction is a critical component of autonomous driving, essential for ensuring both safety and efficiency on the road. However, traditional approaches often struggle with the scarcity of labeled data and exhibit suboptimal…

Predicting future sensory states is crucial for learning agents such as robots, drones, and autonomous vehicles. In this paper, we couple multiple sensory modalities with exploratory actions and propose a predictive neural network…

We propose a novel solution for predicting future trajectories of pedestrians. Our method uses a multimodal encoder-decoder transformer architecture, which takes as input both pedestrian locations and ego-vehicle speeds. Notably, our…

Motion prediction has been an essential component of autonomous driving systems since it handles highly uncertain and complex scenarios involving moving agents of different types. In this paper, we propose a Multi-Granular TRansformer…

The ability of intelligent systems to predict human behaviors is crucial, particularly in fields such as autonomous vehicle navigation and social robotics. However, the complexity of human motion have prevented the development of a…

Trajectory prediction has been a long-standing problem in intelligent systems like autonomous driving and robot navigation. Models trained on large-scale benchmarks have made significant progress in improving prediction accuracy. However,…

Traffic prediction is a challenging spatio-temporal forecasting problem that involves highly complex spatio-temporal correlations. This paper proposes a Multi-level Multi-view Augmented Spatio-temporal Transformer (LVSTformer) for traffic…