相关论文: Perception Without Vision for Trajectory Predictio…

Accurate motion forecasting is crucial for safe autonomous driving (AD). This study proposes CoT-Drive, a novel approach that enhances motion forecasting by leveraging large language models (LLMs) and a chain-of-thought (CoT) prompting…

This paper proposes a new driving style recognition approach that allows autonomous vehicles (AVs) to perform trajectory predictions for surrounding vehicles with minimal data. Toward that end, we use a hybrid of offline and online methods…

Autonomous learning has been a promising direction in control and robotics for more than a decade since data-driven learning allows to reduce the amount of engineering knowledge, which is otherwise required. However, autonomous…

Robust detection of moving vehicles is a critical task for any autonomously operating outdoor robot or self-driving vehicle. Most modern approaches for solving this task rely on training image-based detectors using large-scale vehicle…

Traditional methods for autonomous driving are implemented with many building blocks from perception, planning and control, making them difficult to generalize to varied scenarios due to complex assumptions and interdependencies. Recently,…

Multi-vehicle interaction behavior classification and analysis offer in-depth knowledge to make an efficient decision for autonomous vehicles. This paper aims to cluster a wide range of driving encounter scenarios based only on…

Object detection and motion parameters estimation are crucial tasks for self-driving vehicle safe navigation in a complex urban environment. In this work we propose a novel real-time approach of temporal context aggregation for motion…

A popular way to plan trajectories in dynamic urban scenarios for Autonomous Vehicles is to rely on explicitly specified and hand crafted cost functions, coupled with random sampling in the trajectory space to find the minimum cost…

State estimation of oncoming vehicles: Earlier research has been based on determining states like position, velocity, orientation , angular velocity, etc of ego-vehicle. Our approach focuses on estimating the states of non-ego vehicles…

Dynamic scenes that contain both object motion and egomotion are a challenge for monocular visual odometry (VO). Another issue with monocular VO is the scale ambiguity, i.e. these methods cannot estimate scene depth and camera motion in…

Trajectory prediction is a challenging problem that requires considering interactions among multiple actors and the surrounding environment. While data-driven approaches have been used to address this complex problem, they suffer from…

In recent years, dynamic vision sensors (DVS), also known as event-based cameras or neuromorphic sensors, have seen increased use due to various advantages over conventional frame-based cameras. Using principles inspired by the retina, its…

Motion prediction of vehicles is critical but challenging due to the uncertainties in complex environments and the limited visibility caused by occlusions and limited sensor ranges. In this paper, we study a new task, safety-aware motion…

Trajectory prediction is crucial for autonomous vehicles. The planning system not only needs to know the current state of the surrounding objects but also their possible states in the future. As for vehicles, their trajectories are…

Categorizing driving scenes via visual perception is a key technology for safe driving and the downstream tasks of autonomous vehicles. Traditional methods infer scene category by detecting scene-related objects or using a classifier that…

This paper investigates how to utilize different forms of human interaction to safely train autonomous systems in real-time by learning from both human demonstrations and interventions. We implement two components of the Cycle-of-Learning…

With the advancement of autonomous and assisted driving technologies, higher demands are placed on the ability to understand complex driving scenarios. Multimodal general large models have emerged as a solution for this challenge. However,…

Identifying mobility behaviors in rich trajectory data is of great economic and social interest to various applications including urban planning, marketing and intelligence. Existing work on trajectory clustering often relies on similarity…

Control of machine learning models has emerged as an important paradigm for a broad range of robotics applications. In this paper, we present a sampling-based nonlinear model predictive control (NMPC) approach for control of neural network…

The primary goal of motion planning is to generate safe and efficient trajectories for vehicles. Traditionally, motion planning models are trained using imitation learning to mimic the behavior of human experts. However, these models often…