相关论文: Deep Occupancy-Predictive Representations for Auto…

Autonomous agents embedded in a physical environment need the ability to recognize objects and their properties from sensory data. Such a perceptual ability is often implemented by supervised machine learning models, which are pre-trained…

Understanding and anticipating human activity is an important capability for intelligent systems in mobile robotics, autonomous driving, and video surveillance. While learning from demonstrations with on-site collected trajectory data is a…

Autonomous driving is a multi-agent setting where the host vehicle must apply sophisticated negotiation skills with other road users when overtaking, giving way, merging, taking left and right turns and while pushing ahead in unstructured…

This paper addresses the problem of learning instantaneous occupancy levels of dynamic environments and predicting future occupancy levels. Due to the complexity of most real-world environments, such as urban streets or crowded areas, the…

Scalable multi-agent driving simulation requires behavior models that are both realistic and computationally efficient. We address this by optimizing the behavior model that controls individual traffic participants. To improve efficiency,…

Understanding the geometric relationships between objects in a scene is a core capability in enabling both humans and autonomous agents to navigate in new environments. A sparse, unified representation of the scene topology will allow…

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…

We focus on the problem of predicting future states of entities in complex, real-world driving scenarios. Previous research has used low-level signals to predict short time horizons, and has not addressed how to leverage key assets relied…

Temporal prediction is critical for making intelligent and robust decisions in complex dynamic environments. Motion prediction needs to model the inherently uncertain future which often contains multiple potential outcomes, due to…

Making the right decision in traffic is a challenging task that is highly dependent on individual preferences as well as the surrounding environment. Therefore it is hard to model solely based on expert knowledge. In this work we use Deep…

Trajectory modelling had been the principal research area for understanding and anticipating human behaviour. Predicting the dynamic path by observing the agent and its surrounding environment are essential for applications such as…

We introduce environment predictive coding, a self-supervised approach to learn environment-level representations for embodied agents. In contrast to prior work on self-supervised learning for images, we aim to jointly encode a series of…

In this paper we design and evaluate a Deep-Reinforcement Learning agent that optimizes routing. Our agent adapts automatically to current traffic conditions and proposes tailored configurations that attempt to minimize the network delay.…

Creating accurate spatial representations that take into account uncertainty is critical for autonomous robots to safely navigate in unstructured environments. Although recent LIDAR based mapping techniques can produce robust occupancy…

Connected automated driving has the potential to significantly improve urban traffic efficiency, e.g., by alleviating issues due to occlusion. Cooperative behavior planning can be employed to jointly optimize the motion of multiple…

Predicting future trajectories of surrounding obstacles is a crucial task for autonomous driving cars to achieve a high degree of road safety. There are several challenges in trajectory prediction in real-world traffic scenarios, including…

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…

Deeply-learned planning methods are often based on learning representations that are optimized for unrelated tasks. For example, they might be trained on reconstructing the environment. These representations are then combined with predictor…

We are concerned with the question of how an agent can acquire its own representations from sensory data. We restrict our focus to learning representations for long-term planning, a class of problems that state-of-the-art learning methods…

The exploration of high-speed movement by robots or road traffic agents is crucial for autonomous driving and navigation. Trajectory prediction at high speeds requires considering historical features and interactions with surrounding…