相关论文: Leveraging Smooth Attention Prior for Multi-Agent …

Predicting the future motion of dynamic agents is of paramount importance to ensuring safety and assessing risks in motion planning for autonomous robots. In this study, we propose a two-stage motion prediction method, called R-Pred,…

In large-scale multi-agent systems, the large number of agents and complex game relationship cause great difficulty for policy learning. Therefore, simplifying the learning process is an important research issue. In many multi-agent…

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…

Motion forecasts of road users (i.e., agents) vary in complexity depending on the number of agents, scene constraints, and interactions. In particular, the output space of joint trajectory distributions grows exponentially with the number…

As autonomous driving systems mature, motion forecasting has received increasing attention as a critical requirement for planning. Of particular importance are interactive situations such as merges, unprotected turns, etc., where predicting…

Trajectory and intention prediction of traffic participants is an important task in automated driving and crucial for safe interaction with the environment. In this paper, we present a new approach to vehicle trajectory prediction based on…

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…

In this work, we present a novel multi-modal multi-agent trajectory prediction architecture, focusing on map and interaction modeling using graph representation. For the purposes of map modeling, we capture rich topological structure into…

We focus on decentralized navigation among multiple non-communicating rational agents at \emph{uncontrolled} intersections, i.e., street intersections without traffic signs or signals. Avoiding collisions in such domains relies on the…

We present a novel framework for modeling traffic congestion events over road networks. Using multi-modal data by combining count data from traffic sensors with police reports that report traffic incidents, we aim to capture two types of…

Joint attention - the ability to purposefully coordinate attention with another agent, and mutually attend to the same thing -- is a critical component of human social cognition. In this paper, we ask whether joint attention can be useful…

Trajectory prediction for multi-agents in complex scenarios is crucial for applications like autonomous driving. However, existing methods often overlook environmental biases, which leads to poor generalization. Additionally, hardware…

Trajectory prediction of road users in real-world scenarios is challenging because their movement patterns are stochastic and complex. Previous pedestrian-oriented works have been successful in modelling the complex interactions among…

This paper presents a framework for multi-agent navigation in structured but dynamic environments, integrating three key components: a shared semantic map encoding metric and semantic environmental knowledge, a claim policy for coordinating…

Predicting surrounding vehicle behaviors are critical to autonomous vehicles when negotiating in multi-vehicle interaction scenarios. Most existing approaches require tedious training process with large amounts of data and may fail to…

Motion prediction (MP) of multiple agents is a crucial task in arbitrarily complex environments, from social robots to self-driving cars. Current approaches tackle this problem using end-to-end networks, where the input data is usually a…

Learning to predict agent motions with relationship reasoning is important for many applications. In motion prediction tasks, maintaining motion equivariance under Euclidean geometric transformations and invariance of agent interaction is a…

3D multi-person motion prediction is a highly complex task, primarily due to the dependencies on both individual past movements and the interactions between agents. Moreover, effectively modeling these interactions often incurs substantial…

Trajectory prediction is crucial for autonomous driving, enabling vehicles to navigate safely by anticipating the movements of surrounding road users. However, current deep learning models often lack trustworthiness as their predictions can…

There are many industrial, commercial and social applications for multi-agent planning for multirotors such as autonomous agriculture, infrastructure inspection and search and rescue. Thus, improving on the state-of-the-art of multi-agent…