相关论文: Heterogeneous Trajectory Forecasting via Risk and …

We propose a motion forecasting model that exploits a novel structured map representation as well as actor-map interactions. Instead of encoding vectorized maps as raster images, we construct a lane graph from raw map data to explicitly…

The safe trajectory planning of intelligent and connected vehicles is a key component in autonomous driving technology. Modeling the environment risk information by field is a promising and effective approach for safe trajectory planning.…

Accurate and robust recognition and prediction of traffic situation plays an important role in autonomous driving, which is a prerequisite for risk assessment and effective decision making. Although there exist a lot of works dealing with…

Cooperative multi-robot tasks can benefit from heterogeneity in the robots' physical and behavioral traits. In spite of this, traditional Multi-Agent Reinforcement Learning (MARL) frameworks lack the ability to explicitly accommodate policy…

Accurate motion prediction of pedestrians, cyclists, and other surrounding vehicles (all called agents) is very important for autonomous driving. Most existing works capture map information through an one-stage interaction with map by…

This paper addresses the task of joint multi-agent perception and planning, especially as it relates to the real-world challenge of collision-free navigation for connected self-driving vehicles. For this task, several communication-enabled…

Predicting the trajectories of vehicles is crucial for the development of autonomous driving (AD) systems, particularly in complex and dynamic traffic environments. In this study, we introduce HiT (Human-like Trajectory Prediction), a novel…

This paper presents a method to predict the evolution of a complex traffic scenario with multiple objects. The current state of the scenario is assumed to be known from sensors and the prediction is taking into account various hypotheses…

Ensuring the safety of autonomous vehicles (AVs) in long-tail scenarios remains a critical challenge, particularly under high uncertainty and complex multi-agent interactions. To address this, we propose RiskNet, an interaction-aware risk…

Accurate pedestrian trajectory prediction is of great importance for downstream tasks such as autonomous driving and mobile robot navigation. Fully investigating the social interactions within the crowd is crucial for accurate pedestrian…

The ability to predict the future trajectories of traffic participants is crucial for the safe and efficient operation of autonomous vehicles. In this paper, a diffusion-based generative model for multi-agent trajectory prediction is…

Recent years have witnessed the emerging success of graph neural networks (GNNs) for modeling structured data. However, most GNNs are designed for homogeneous graphs, in which all nodes and edges belong to the same types, making them…

Recent advancements in recommender systems have focused on integrating knowledge graphs (KGs) to leverage their auxiliary information. The core idea of KG-enhanced recommenders is to incorporate rich semantic information for more accurate…

In this work, we tackle two vital tasks in automated driving systems, i.e., driver intent prediction and risk object identification from egocentric images. Mainly, we investigate the question: what would be good road scene-level…

Interactive multi-agent simulation algorithms are used to compute the trajectories and behaviors of different entities in virtual reality scenarios. However, current methods involve considerable parameter tweaking to generate plausible…

This work considers the problem of heterogeneous graph-level anomaly detection. Heterogeneous graphs are commonly used to represent behaviours between different types of entities in complex industrial systems for capturing as much…

Real-time planning among many uncertain, dynamic obstacles is challenging because predicting every agent with high fidelity is both unnecessary and computationally expensive. We present Heterogeneous Predictor-based Risk-Aware Planning…

Heterogeneous graphs (HGs) are common in real-world scenarios and often exhibit heterophily. However, most existing studies focus on either heterogeneity or heterophily in isolation, overlooking the prevalence of heterophilic HGs in…

For driving safely and efficiently in highway scenarios, autonomous vehicles (AVs) must be able to predict future behaviors of surrounding object vehicles (OVs), and assess collision risk accurately for reasonable decision-making. Aiming at…

Trajectory prediction allows better decision-making in applications of autonomous vehicles or surveillance by predicting the short-term future movement of traffic agents. It is classified into pedestrian or heterogeneous trajectory…