相关论文: Towards Generalizable and Interpretable Motion Pre…

The rapid iteration of autonomous vehicle (AV) deployments leads to increasing needs for building realistic and scalable multi-agent traffic simulators for efficient evaluation. Recent advances in this area focus on closed-loop simulators…

This paper presents a novel approach to Autonomous Vehicle (AV) control through the application of active inference, a theory derived from neuroscience that conceptualizes the brain as a predictive machine. Traditional autonomous driving…

Graph Neural Networks (GNNs) have emerged as the predominant approach for learning over graph-structured data. However, most GNNs operate as black-box models and require post-hoc explanations, which may not suffice in high-stakes scenarios…

Motion prediction systems aim to capture the future behavior of traffic scenarios enabling autonomous vehicles to perform safe and efficient planning. The evolution of these scenarios is highly uncertain and depends on the interactions of…

Data driven approaches for decision making applied to automated driving require appropriate generalization strategies, to ensure applicability to the world's variability. Current approaches either do not generalize well beyond the training…

Accurately predicting future behaviors of surrounding vehicles is an essential capability for autonomous vehicles in order to plan safe and feasible trajectories. The behaviors of others, however, are full of uncertainties. Both rational…

The feasibility of collecting a large amount of expert demonstrations has inspired growing research interests in learning-to-drive settings, where models learn by imitating the driving behaviour from experts. However, exclusively relying on…

Recent years have seen a growing interest in methods for predicting an unknown variable of interest, such as a subject's diagnosis, from medical images depicting its anatomical-functional effects. Methods based on discriminative modeling…

We propose improving the cross-target and cross-scene generalization of visual navigation through learning an agent that is guided by conceiving the next observations it expects to see. This is achieved by learning a variational Bayesian…

Motion prediction of surrounding vehicles is one of the most important tasks handled by a self-driving vehicle, and represents a critical step in the autonomous system necessary to ensure safety for all the involved traffic actors. Recently…

This paper presents GAMMA, a general motion prediction model that enables large-scale real-time simulation and planning for autonomous driving. GAMMA models heterogeneous, interactive traffic agents. They operate under diverse road…

Modeling car-following behavior is fundamental to microscopic traffic simulation, yet traditional deterministic models often fail to capture the full extent of variability and unpredictability in human driving. While many modern approaches…

Pedestrian trajectory prediction is an essential component in a wide range of AI applications such as autonomous driving and robotics. Existing methods usually assume the training and testing motions follow the same pattern while ignoring…

Vehicle trajectory prediction plays a vital role in intelligent transportation systems and autonomous driving, as it significantly affects vehicle behavior planning and control, thereby influencing traffic safety and efficiency. Numerous…

Autonomous driving is a challenging task that requires perceiving and understanding the surrounding environment for safe trajectory planning. While existing vision-based end-to-end models have achieved promising results, these methods are…

Deep generative models such as conditional variational autoencoders (CVAEs) have shown great promise for predicting trajectories of surrounding agents in autonomous vehicle planning. State-of-the-art models have achieved remarkable accuracy…

In order to plan a safe maneuver an autonomous vehicle must accurately perceive its environment, and understand the interactions among traffic participants. In this paper, we aim to learn scene-consistent motion forecasts of complex urban…

Learning and inference movement is a very challenging problem due to its high dimensionality and dependency to varied environments or tasks. In this paper, we propose an effective probabilistic method for learning and inference of basic…

Safety is critical for autonomous driving, and one aspect of improving safety is to accurately capture the uncertainties of the perception system, especially knowing the unknown. Different from only providing deterministic or probabilistic…

World models can foresee the outcomes of different actions, which is of paramount importance for autonomous driving. Nevertheless, existing driving world models still have limitations in generalization to unseen environments, prediction…