相关论文: ReCoAt: A Deep Learning-based Framework for Multi-…

Mobile robots are often tasked with repeatedly navigating through an environment whose traversability changes over time. These changes may exhibit some hidden structure, which can be learned. Many studies consider reactive algorithms for…

The ability to reliably perceive the environmental states, particularly the existence of objects and their motion behavior, is crucial for autonomous driving. In this work, we propose an efficient deep model, called MotionNet, to jointly…

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…

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…

Predicting the future behavior of road users is one of the most challenging and important problems in autonomous driving. Applying deep learning to this problem requires fusing heterogeneous world state in the form of rich perception…

Self-driving vehicles rely on multimodal motion forecasts to effectively interact with their environment and plan safe maneuvers. We introduce SceneMotion, an attention-based model for forecasting scene-wide motion modes of multiple traffic…

Model-based and learning-based methods are two major types of methodologies to model car following behaviors. Model-based methods describe the car-following behaviors with explicit mathematical equations, while learning-based methods focus…

Generative models of 3D human motion are often restricted to a small number of activities and can therefore not generalize well to novel movements or applications. In this work we propose a deep learning framework for human motion capture…

Motion forecasting is a key module in an autonomous driving system. Due to the heterogeneous nature of multi-sourced input, multimodality in agent behavior, and low latency required by onboard deployment, this task is notoriously…

In this paper, we present a novel deep multimodal framework to predict human emotions based on sentence-level spoken language. Our architecture has two distinctive characteristics. First, it extracts the high-level features from both text…

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…

In this endeavor, we developed a comprehensive system that processes integrated visual features derived from video frames captured by a regular camera, along with depth details obtained from a point cloud scanner. This system is designed to…

In this paper, we present a safe deep reinforcement learning system for automated driving. The proposed framework leverages merits of both rule-based and learning-based approaches for safety assurance. Our safety system consists of two…

Motion prediction, recently popularized as world models, refers to the anticipation of future agent states or scene evolution, which is rooted in human cognition, bridging perception and decision-making. It enables intelligent systems, such…

Anticipating the multimodality of future events lays the foundation for safe autonomous driving. However, multimodal motion prediction for traffic agents has been clouded by the lack of multimodal ground truth. Existing works predominantly…

Most existing Multi-Object Tracking (MOT) approaches follow the Tracking-by-Detection paradigm and the data association framework where objects are firstly detected and then associated. Although deep-learning based method can noticeably…

Predicting the motion of other road agents enables autonomous vehicles to perform safe and efficient path planning. This task is very complex, as the behaviour of road agents depends on many factors and the number of possible future…

One of the greatest challenges towards fully autonomous cars is the understanding of complex and dynamic scenes. Such understanding is needed for planning of maneuvers, especially those that are particularly frequent such as lane changes.…

Modeling and understanding the environment is an essential task for autonomous driving. In addition to the detection of objects, in complex traffic scenarios the motion of other road participants is of special interest. Therefore, we…

Predicting the future can significantly improve the safety of intelligent vehicles, which is a key component in autonomous driving. 3D point clouds accurately model 3D information of surrounding environment and are crucial for intelligent…