相关论文: MGTR: Multi-Granular Transformer for Motion Predic…

We present a novel transformer-based architecture for global multi-object tracking. Our network takes a short sequence of frames as input and produces global trajectories for all objects. The core component is a global tracking transformer…

Forecasting the trajectory of pedestrians in shared urban traffic environments is still considered one of the challenging problems facing the development of autonomous vehicles (AVs). In the literature, this problem is often tackled using…

Accurately predicting the future motion of surrounding vehicles requires reasoning about the inherent uncertainty in driving behavior. This uncertainty can be loosely decoupled into lateral (e.g., keeping lane, turning) and longitudinal…

The perception of moving objects is crucial for autonomous robots performing collision avoidance in dynamic environments. LiDARs and cameras tremendously enhance scene interpretation but do not provide direct motion information and face…

Point scene understanding is a challenging task to process real-world scene point cloud, which aims at segmenting each object, estimating its pose, and reconstructing its mesh simultaneously. Recent state-of-the-art method first segments…

The perception system in personalized mobile agents requires developing indoor scene understanding models, which can understand 3D geometries, capture objectiveness, analyze human behaviors, etc. Nonetheless, this direction has not been…

Traffic flow forecasting is a crucial first step in intelligent and proactive traffic management. Traffic flow parameters are volatile and uncertain, making traffic flow forecasting a difficult task if the appropriate forecasting model is…

In this work, we propose a novel discriminative framework for dexterous grasp generation, named Dexterous Grasp TRansformer (DGTR), capable of predicting a diverse set of feasible grasp poses by processing the object point cloud with only…

Understanding and predicting pedestrian crossing behavioral intention is crucial for the driving safety of autonomous vehicles. Nonetheless, challenges emerge when using promising images or environmental context masks to extract various…

Most recent approaches for online action detection tend to apply Recurrent Neural Network (RNN) to capture long-range temporal structure. However, RNN suffers from non-parallelism and gradient vanishing, hence it is hard to be optimized. In…

This paper focuses on spatiotemporal (ST) traffic prediction using graph neural networks (GNNs). Given that ST data comprises non-stationary and complex temporal patterns, interpreting and predicting such trends is inherently challenging.…

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…

Transformers have enabled breakthroughs in NLP and computer vision, and have recently began to show promising performance in trajectory prediction for Autonomous Vehicle (AV). How to efficiently model the interactive relationships between…

Viewport prediction is a crucial aspect of tile-based 360 video streaming system. However, existing trajectory based methods lack of robustness, also oversimplify the process of information construction and fusion between different modality…

Transformer structure, stacked by a sequence of encoder and decoder network layers, achieves significant development in neural machine translation. However, vanilla Transformer mainly exploits the top-layer representation, assuming the…

Accurate stock market prediction provides great opportunities for informed decision-making, yet existing methods struggle with financial data's non-linear, high-dimensional, and volatile characteristics. Advanced predictive models are…

We introduce RedMotion, a transformer model for motion prediction in self-driving vehicles that learns environment representations via redundancy reduction. Our first type of redundancy reduction is induced by an internal transformer…

Traditional traffic prediction, limited by the scope of sensor data, falls short in comprehensive traffic management. Mobile networks offer a promising alternative using network activity counts, but these lack crucial directionality. Thus,…

We propose an approach to simulating trajectories of multiple interacting agents (road users) based on transformers and probabilistic graphical models (PGMs), and apply it to the Waymo SimAgents challenge. The transformer baseline is based…

To plan a safe and efficient route, an autonomous vehicle should anticipate future motions of other agents around it. Motion prediction is an extremely challenging task which recently gained significant attention of the research community.…