相关论文: Diverse Multiple Trajectory Prediction Using a Two…

Motion prediction of surrounding vehicles is one of the most important tasks handled by a self-driving vehicle, and represents a critical step in the autonomous system necessary to ensure safety for all the involved traffic actors. Recently…

Given their flexibility and encouraging performance, deep-learning models are becoming standard for motion prediction in autonomous driving. However, with great flexibility comes a lack of interpretability and possible violations of…

Linear trajectory models provide mathematical advantages to autonomous driving applications such as motion prediction. However, linear models' expressive power and bias for real-world trajectories have not been thoroughly analyzed. We…

Autonomous vehicles are controlled today either based on sequences of decoupled perception-planning-action operations, either based on End2End or Deep Reinforcement Learning (DRL) systems. Current deep learning solutions for autonomous…

Trajectory prediction has garnered widespread attention in different fields, such as autonomous driving and robotic navigation. However, due to the significant variations in trajectory patterns across different scenarios, models trained in…

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…

The ability to forecast a set of likely yet diverse possible future behaviors of an agent (e.g., future trajectories of a pedestrian) is essential for safety-critical perception systems (e.g., autonomous vehicles). In particular, a set of…

Autonomous vehicles rely on accurate trajectory prediction to inform decision-making processes related to navigation and collision avoidance. However, current trajectory prediction models show signs of overfitting, which may lead to unsafe…

The advancement of socially-aware autonomous vehicles hinges on precise modeling of human behavior. Within this broad paradigm, the specific challenge lies in accurately predicting pedestrian's trajectory and intention. Traditional…

This paper proposes a discretionary lane selection algorithm. In particular, highway driving is considered as a targeted scenario, where each lane has a different level of traffic flow. When lane-changing is discretionary, it is advised not…

Traversing terrain with good traction is crucial for achieving fast off-road navigation. Instead of manually designing costs based on terrain features, existing methods learn terrain properties directly from data via self-supervision to…

Trajectory prediction is essential for autonomous vehicles (AVs) to plan correct and safe driving behaviors. While many prior works aim to achieve higher prediction accuracy, few study the adversarial robustness of their methods. To bridge…

Simulating the human mobility and generating large-scale trajectories are of great use in many real-world applications, such as urban planning, epidemic spreading analysis, and geographic privacy protect. Although many previous works have…

Conventional algorithms in autonomous exploration face challenges due to their inability to accurately and efficiently identify the spatial distribution of convex regions in the real-time map. These methods often prioritize navigation…

This paper proposes a new driving style recognition approach that allows autonomous vehicles (AVs) to perform trajectory predictions for surrounding vehicles with minimal data. Toward that end, we use a hybrid of offline and online methods…

In this paper, we present a novel trajectory prediction model for autonomous driving, combining a Characterized Diffusion Module and a Spatial-Temporal Interaction Network to address the challenges posed by dynamic and heterogeneous traffic…

Trajectory planning for connected and automated vehicles (CAVs) has the potential to improve operational efficiency and vehicle fuel economy in traffic systems. Despite abundant studies in this research area, most of them only consider…

Trajectory prediction serves as a critical functionality in autonomous driving, enabling the anticipation of future motion paths for traffic participants such as vehicles and pedestrians, which is essential for driving safety. Although…

The diffusion model has shown success in generating high-quality and diverse solutions to trajectory optimization problems. However, diffusion models with neural networks inevitably make prediction errors, which leads to constraint…

Learned path planners have attracted research interest due to their ability to model human driving behavior and rapid inference. Recent works on behavioral cloning show that simple imitation of expert observations is not sufficient to…