相关论文: MTR++: Multi-Agent Motion Prediction with Symmetri…

While next-token prediction (NTP) has been the standard objective for training language models, it often struggles to capture global structure in reasoning tasks. Multi-token prediction (MTP) has recently emerged as a promising alternative,…

Traffic signal control is a critical challenge in urban transportation, requiring coordination among multiple intersections to optimize network-wide traffic flow. While reinforcement learning has shown promise for adaptive signal control,…

Motion prediction is among the most fundamental tasks in autonomous driving. Traditional methods of motion forecasting primarily encode vector information of maps and historical trajectory data of traffic participants, lacking a…

3D object detection is a significant task for autonomous driving. Recently with the progress of vision transformers, the 2D object detection problem is being treated with the set-to-set loss. Inspired by these approaches on 2D object…

Trajectory prediction is crucial for autonomous driving, enabling vehicles to navigate safely by anticipating the movements of surrounding road users. However, current deep learning models often lack trustworthiness as their predictions can…

Motion planning is a critical module in autonomous driving, with the primary challenge of uncertainty caused by interactions with other participants. As most previous methods treat prediction and planning as separate tasks, it is difficult…

Trajectory prediction in urban mixed-traffic zones (a.k.a. shared spaces) is critical for many intelligent transportation systems, such as intent detection for autonomous driving. However, there are many challenges to predict the…

In this paper, we propose a simple and strong framework for Tracking Any Point with TRansformers (TAPTR). Based on the observation that point tracking bears a great resemblance to object detection and tracking, we borrow designs from…

High-level robot skills represent an increasingly popular paradigm in robot programming. However, configuring the skills' parameters for a specific task remains a manual and time-consuming endeavor. Existing approaches for learning or…

Click-through rate (CTR) prediction is a critical task for many industrial systems, such as display advertising and recommender systems. Recently, modeling user behavior sequences attracts much attention and shows great improvements in the…

Multiple-object tracking and segmentation (MOTS) is a novel computer vision task that aims to jointly perform multiple object tracking (MOT) and instance segmentation. In this work, we present PointTrack++, an effective on-line framework…

Many Multi-Object Tracking (MOT) approaches exploit motion information to associate all the detected objects across frames. However, many methods that rely on filtering-based algorithms, such as the Kalman Filter, often work well in linear…

This paper proposes an intent-aware multi-agent planning framework as well as a learning algorithm. Under this framework, an agent plans in the goal space to maximize the expected utility. The planning process takes the belief of other…

Accurate motion forecasting for traffic agents is crucial for ensuring the safety and efficiency of autonomous driving systems in dynamically changing environments. Mainstream methods adopt a one-query-one-trajectory paradigm, where each…

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 trajectory prediction plays an important role in autonomous driving systems and robotics. Recent work utilizing prominent deep learning models for pedestrian motion prediction makes limited a priori assumptions about human…

Ubiquitous mobile devices are generating vast amounts of location-based service data that reveal how individuals navigate and utilize urban spaces in detail. In this study, we utilize these extensive, unlabeled sequences of user…

In mobile robot shared control, effectively understanding human motion intention is critical for seamless human-robot collaboration. This paper presents a novel shared control framework featuring planning-level intention prediction. A path…

Accurate human motion prediction (HMP) is critical for seamless human-robot collaboration, particularly in handover tasks that require real-time adaptability. Despite the high accuracy of state-of-the-art models, their computational…

Predicting pedestrian motion trajectories is critical for path planning and motion control of autonomous vehicles. However, accurately forecasting crowd trajectories remains a challenging task due to the inherently multimodal and uncertain…