相关论文: SIMPL: A Simple and Efficient Multi-agent Motion P…

Accurate perception of dynamic traffic scenes is crucial for high-level autonomous driving systems, requiring robust object motion estimation and instance segmentation. However, traditional methods often treat them as separate tasks,…

The integration of Large Language Models (LLMs) with microscopic traffic simulation offers a promising path toward autonomous urban planning and intelligent transportation analysis. However, existing monolithic agent architectures often…

Motion planning is an essential part of autonomous mobile platforms. A good pipeline should be modular enough to handle different vehicles, environments, and perception modules. The planning process has to cope with all the different…

A high-performing object detection system plays a crucial role in autonomous driving (AD). The performance, typically evaluated in terms of mean Average Precision, does not take into account orientation and distance of the actors in the…

Motion detection is a fundamental but challenging task for autonomous driving. In particular scenes like highway, remote objects have to be paid extra attention for better controlling decision. Aiming at distant vehicles, we train a neural…

Motion prediction is crucial for autonomous vehicles to operate safely in complex traffic environments. Extracting effective spatiotemporal relationships among traffic elements is key to accurate forecasting. Inspired by the successful…

Forecasting long-term human motion is a challenging task due to the non-linearity, multi-modality and inherent uncertainty in future trajectories. The underlying scene and past motion of agents can provide useful cues to predict their…

Accurate vehicle trajectory prediction is essential for ensuring safety and efficiency in fully autonomous driving systems. While existing methods primarily focus on modeling observed motion patterns and interactions with other vehicles,…

Avoiding congestion and controlling traffic in urban scenarios is becoming nowadays of paramount importance due to the rapid growth of our cities' population and vehicles. The effective control of urban traffic as a means to mitigate…

Inference algorithms in probabilistic programming languages (PPLs) can be thought of as interpreters, since an inference algorithm traverses a model given evidence to answer a query. As with interpreters, we can improve the efficiency of…

To safely and efficiently navigate in complex urban traffic, autonomous vehicles must make responsible predictions in relation to surrounding traffic-agents (vehicles, bicycles, pedestrians, etc.). A challenging and critical task is to…

Motion prediction is highly relevant to the perception of dynamic objects and static map elements in the scenarios of autonomous driving. In this work, we propose PIP, the first end-to-end Transformer-based framework which jointly and…

This paper presents a novel approach to improving autonomous vehicle control in environments lacking clear road markings by integrating a diffusion-based motion predictor within an Active Inference Framework (AIF). Using a simulated parking…

In this paper, we present a motion planning framework for multi-modal vehicle dynamics. Our proposed algorithm employs transcription of the optimization objective function, vehicle dynamics, and state and control constraints into sparse…

In this work, we address the motion planning problem for autonomous vehicles through a new lattice planning approach, called Feedback Enhanced Lattice Planner (FELP). Existing lattice planners have two major limitations, namely the high…

Data-driven modelling and synthesis of motion is an active research area with applications that include animation, games, and social robotics. This paper introduces a new class of probabilistic, generative, and controllable motion-data…

In the typical autonomous driving stack, planning and control systems represent two of the most crucial components in which data retrieved by sensors and processed by perception algorithms are used to implement a safe and comfortable…

Motion prediction (MP) of multiple agents is a crucial task in arbitrarily complex environments, from social robots to self-driving cars. Current approaches tackle this problem using end-to-end networks, where the input data is usually a…

Spatio-Temporal prediction plays a critical role in smart city construction. Jointly modeling multiple spatio-temporal tasks can further promote an intelligent city life by integrating their inseparable relationship. However, existing…

Quantifying and encoding occupants' preferences as an objective function for the tactical decision making of autonomous vehicles is a challenging task. This paper presents a low-complexity approach for lane-change initiation and planning to…