相关论文: Wayformer: Motion Forecasting via Simple & Efficie…

The point cloud learning community witnesses a modeling shift from CNNs to Transformers, where pure Transformer architectures have achieved top accuracy on the major learning benchmarks. However, existing point Transformers are…

Predicting future behaviors of road agents is a key task in autonomous driving. While existing models have demonstrated great success in predicting marginal agent future behaviors, it remains a challenge to efficiently predict consistent…

Occluded traffic agents pose a significant challenge for autonomous vehicles, as hidden pedestrians or vehicles can appear unexpectedly, yet this problem remains understudied. Existing learning-based methods, while capable of inferring the…

Short-Term object-interaction Anticipation consists of detecting the location of the next-active objects, the noun and verb categories of the interaction, and the time to contact from the observation of egocentric video. This ability is…

We present JointMotion, a self-supervised pre-training method for joint motion prediction in self-driving vehicles. Our method jointly optimizes a scene-level objective connecting motion and environments, and an instance-level objective to…

Pedestrian crossing intention prediction is essential for autonomous vehicles to improve pedestrian safety and reduce traffic accidents. However, accurate pedestrian intention prediction in urban environments remains challenging due to the…

Short-Term object-interaction Anticipation (STA) consists of detecting the location of the next-active objects, the noun and verb categories of the interaction, and the time to contact from the observation of egocentric video. We propose…

Human trajectory forecasting is a key component of autonomous vehicles, social-aware robots and advanced video-surveillance applications. This challenging task typically requires knowledge about past motion, the environment and likely…

Many adaptations of transformers have emerged to address the single-modal vision tasks, where self-attention modules are stacked to handle input sources like images. Intuitively, feeding multiple modalities of data to vision transformers…

Autonomous driving systems require a comprehensive understanding of the environment, achieved by extracting visual features essential for perception, planning, and control. However, models trained solely on single-task objectives or generic…

Tracking often uses a multi-stage pipeline of feature extraction, target information integration, and bounding box estimation. To simplify this pipeline and unify the process of feature extraction and target information integration, we…

Long-term traffic prediction is highly challenging due to the complexity of traffic systems and the constantly changing nature of many impacting factors. In this paper, we focus on the spatio-temporal factors, and propose a graph…

Multimodal visual information fusion aims to integrate the multi-sensor data into a single image which contains more complementary information and less redundant features. However the complementary information is hard to extract, especially…

This study proposes a hybrid model based on Transformers, named MSCMHMST, aimed at addressing key challenges in traffic flow prediction. Traditional single-method approaches show limitations in traffic prediction tasks, whereas hybrid…

Traffic forecasting, which aims to predict traffic conditions based on historical observations, has been an enduring research topic and is widely recognized as an essential component of intelligent transportation. Recent proposals on…

World modelling, i.e. building a representation of the rules that govern the world so as to predict its evolution, is an essential ability for any agent interacting with the physical world. Recent applications of the Transformer…

Recently, data-driven trajectory prediction methods have achieved remarkable results, significantly advancing the development of autonomous driving. However, the instability of single-vehicle perception introduces certain limitations to…

Transformers have excelled in many tasks including vision. However, efficient deployment of transformer models in low-latency or high-throughput applications is hindered by the computation in the attention mechanism which involves expensive…

Linearization of attention using various kernel approximation and kernel learning techniques has shown promise. Past methods used a subset of combinations of component functions and weight matrices within the random feature paradigm. We…

With the development of the self-attention mechanism, the Transformer model has demonstrated its outstanding performance in the computer vision domain. However, the massive computation brought from the full attention mechanism became a…