相关论文: Towards Generalizable and Interpretable Motion Pre…

Autonomous agents play a crucial role in advancing Artificial General Intelligence, enabling problem decomposition and tool orchestration through Large Language Models (LLMs). However, existing paradigms face a critical trade-off. On one…

Learned communication makes multi-agent systems more effective by aggregating distributed information. However, it also exposes individual agents to the threat of erroneous messages they might receive. In this paper, we study the setting…

Motion prediction for automated vehicles in complex environments is a difficult task that is to be mastered when automated vehicles are to be used in arbitrary situations. Many factors influence the future motion of traffic participants…

Enabling resilient autonomous motion planning requires robust predictions of surrounding road users' future behavior. In response to this need and the associated challenges, we introduce our model titled MTP-GO. The model encodes the scene…

Predicting the behaviors of other road users is crucial to safe and intelligent decision-making for autonomous vehicles (AVs). However, most motion prediction models ignore the influence of the AV's actions and the planning module has to…

Agents of general intelligence deployed in real-world scenarios must adapt to ever-changing environmental conditions. While such adaptive agents may leverage engineered knowledge, they will require the capacity to construct and evaluate…

Generative model-based motion prediction techniques have recently realized predicting controlled human motions, such as predicting multiple upper human body motions with similar lower-body motions. However, to achieve this, the…

Vision-Language-Action (VLA) models have recently shown strong decision-making capabilities in autonomous driving. However, existing VLAs often struggle with achieving efficient inference and generalizing to novel autonomous vehicle…

A key advance in learning generative models is the use of amortized inference distributions that are jointly trained with the models. We find that existing training objectives for variational autoencoders can lead to inaccurate amortized…

In autonomous driving, deep learning enabled motion prediction is a popular topic. A critical gap in traditional motion prediction methodologies lies in ensuring equivariance under Euclidean geometric transformations and maintaining…

Pretrained foundation models have become an important basis for end-to-end autonomous driving. In contrast to vision-language models pretrained primarily on static image-text pairs, video generative models capture temporal dynamics and…

To achieve full autonomous driving, a good understanding of the surrounding environment is necessary. Especially predicting the future states of other traffic participants imposes a non-trivial challenge. Current SotA-models already show…

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…

Projection predictive inference is a decision theoretic Bayesian approach that decouples model estimation from decision making. Given a reference model previously built including all variables present in the data, projection predictive…

When multiple agents interact in a common environment, each agent's actions impact others' future decisions, and noncooperative dynamic games naturally capture this coupling. In interactive motion planning, however, agents typically do not…

Effective interaction modeling and behavior prediction of dynamic agents play a significant role in interactive motion planning for autonomous robots. Although existing methods have improved prediction accuracy, few research efforts have…

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…

Predicting future trajectories of surrounding vehicles heavily relies on what contextual information is given to a motion prediction model. The context itself can be static (lanes, regulatory elements, etc) or dynamic (traffic…

Trustworthy AI is mandatory for the broad deployment of autonomous vehicles. Although end-to-end approaches derive control commands directly from raw data, interpreting these decisions remains challenging, especially in complex urban…

Current deep learning based autonomous driving approaches yield impressive results also leading to in-production deployment in certain controlled scenarios. One of the most popular and fascinating approaches relies on learning vehicle…