相关论文: PreTraM: Self-Supervised Pre-training via Connecti…

Accumulating substantial volumes of real-world driving data proves pivotal in the realm of trajectory forecasting for autonomous driving. Given the heavy reliance of current trajectory forecasting models on data-driven methodologies, we aim…

Predicting future trajectories for other road agents is an essential task for autonomous vehicles. Established trajectory prediction methods primarily use agent tracks generated by a detection and tracking system and HD map as inputs. In…

Pretraining is a common technique in deep learning for increasing performance and reducing training time, with promising experimental results in deep reinforcement learning (RL). However, pretraining requires a relevant dataset for…

Trajectory prediction aims to estimate an entity's future path using its current position and historical movement data, benefiting fields like autonomous navigation, robotics, and human movement analytics. Deep learning approaches have…

Existing vehicle trajectory prediction models struggle with generalizability, prediction uncertainties, and handling complex interactions. It is often due to limitations like complex architectures customized for a specific dataset and…

High-definition (HD) maps have played an integral role in the development of modern autonomous vehicle (AV) stacks, albeit with high associated labeling and maintenance costs. As a result, many recent works have proposed methods for…

Deep learning techniques have revolutionised medical imaging, improving diagnostic accuracy and enabling both more accurate and earlier disease detection. However, the relationship between pre-training strategies and downstream performance…

Trajectory representation learning (TRL) maps trajectories to vectors that can then be used for various downstream tasks, including trajectory similarity computation, trajectory classification, and travel-time estimation. However, existing…

Current autonomous driving systems often favor end-to-end frameworks, which take sensor inputs like images and learn to map them into trajectory space via neural networks. Previous work has demonstrated that models can achieve better…

Pre-training and self-training are two approaches to semi-supervised learning. The comparison between pre-training and self-training has been explored. However, the previous works led to confusing findings: self-training outperforms…

Learning-based motion planning can quickly generate near-optimal trajectories. However, it often requires either large training datasets or costly collection of human demonstrations. This work proposes an alternative approach that quickly…

Foundation models in healthcare have largely adopted self supervised pretraining objectives inherited from natural language processing and computer vision, emphasizing reconstruction and large scale representation learning prior to…

As a safety critical task, autonomous driving requires accurate predictions of road users' future trajectories for safe motion planning, particularly under challenging conditions. Yet, many recent deep learning methods suffer from a…

While self-supervised pretraining has proven beneficial for many computer vision tasks, it requires expensive and lengthy computation, large amounts of data, and is sensitive to data augmentation. Prior work demonstrates that models…

As the pretraining technique is growing in popularity, little work has been done on pretrained learning-based motion prediction methods in autonomous driving. In this paper, we propose a framework to formalize the pretraining task for…

The efficacy of autonomous driving systems hinges critically on robust prediction and planning capabilities. However, current benchmarks are impeded by a notable scarcity of scenarios featuring dense traffic, which is essential for…

Understanding trajectory diversity is a fundamental aspect of addressing practical traffic tasks. However, capturing the diversity of trajectories presents challenges, particularly with traditional machine learning and recurrent neural…

Foundation models have recently gained attention within the field of machine learning thanks to its efficiency in broad data processing. While researchers had attempted to extend this success to time series models, the main challenge is…

Inspired by recent developments regarding the application of self-supervised learning (SSL), we devise an auxiliary task for trajectory prediction that takes advantage of map-only information such as graph connectivity with the intent of…

The significant achievements of pre-trained models leveraging large volumes of data in the field of NLP and 2D vision inspire us to explore the potential of extensive data pre-training for 3D perception in autonomous driving. Toward this…