相关论文: A Structure-Aware Lane Graph Transformer Model for…

Understanding terrain topology at long-range is crucial for the success of off-road robotic missions, especially when navigating at high-speeds. LiDAR sensors, which are currently heavily relied upon for geometric mapping, provide sparse…

We propose Lite-STGNN, a lightweight spatial-temporal graph neural network for long-term multivariate forecasting that integrates decomposition-based temporal modeling with learnable sparse graph structure. The temporal module applies…

When training transformers on graph-structured data, incorporating information about the underlying topology is crucial for good performance. Topological masking, a type of relative position encoding, achieves this by upweighting or…

Lane graph estimation is a long-standing problem in the context of autonomous driving. Previous works aimed at solving this problem by relying on large-scale, hand-annotated lane graphs, introducing a data bottleneck for training models to…

Although traffic prediction has been receiving considerable attention with a number of successes in the context of intelligent transportation systems, the prediction of traffic states over a complex transportation network that contains…

Traffic state prediction in a transportation network is paramount for effective traffic operations and management, as well as informed user and system-level decision-making. However, long-term traffic prediction (beyond 30 minutes into the…

Accurate prediction of real-world pedestrian trajectories is crucial for a wide range of robot-related applications. Recent approaches typically adopt graph-based or transformer-based frameworks to model interactions. Despite their…

Transformers achieve strong performance across diverse domains but implicitly assume Euclidean geometry in their attention mechanisms, limiting their effectiveness on data with non-Euclidean structure. While recent extensions to hyperbolic…

Incorporating prior knowledge can improve existing pre-training models in cloze-style machine reading and has become a new trend in recent studies. Notably, most of the existing models have integrated external knowledge graphs (KG) and…

Graph fraud detection (GFD) is crucial for identifying fraudulent behavior within graphs, benefiting various domains such as financial networks and social media. Existing methods based on graph neural networks (GNNs) have succeeded…

Autonomous vehicles (AVs) rely on real-time perception systems to understand road environments and ensure safe navigation. However, implementing reliable perception algorithms on resource-constrained embedded platforms remains challenging…

Existing efforts are dedicated to designing many topologies and graph-aware strategies for the graph Transformer, which greatly improve the model's representation capabilities. However, manually determining the suitable Transformer…

Precise modeling of microscopic vehicle trajectories is critical for traffic behavior analysis and autonomous driving systems. We propose Ctx2TrajGen, a context-aware trajectory generation framework that synthesizes realistic urban driving…

Multi-agent trajectory prediction is crucial to autonomous driving and understanding the surrounding environment. Learning-based approaches for multi-agent trajectory prediction, such as primarily relying on graph neural networks, graph…

Predicting the motion of surrounding vehicles is essential for autonomous vehicles, as it governs their own motion plan. Current state-of-the-art vehicle prediction models heavily rely on map information. In reality, however, this…

We present Laneformer, a conceptually simple yet powerful transformer-based architecture tailored for lane detection that is a long-standing research topic for visual perception in autonomous driving. The dominant paradigms rely on purely…

Graph Attention Networks (GATs) have emerged as powerful models for learning expressive representations from such data by adaptively weighting neighboring nodes through attention mechanisms. However, most existing approaches primarily rely…

To handle the two shortcomings of existing methods, (i)nearly all models rely on high-definition (HD) maps, yet the map information is not always available in real traffic scenes and HD map-building is expensive and time-consuming and (ii)…

Recent years have witnessed the emerging success of graph neural networks (GNNs) for modeling structured data. However, most GNNs are designed for homogeneous graphs, in which all nodes and edges belong to the same types, making them…

Accurate prediction of road accidents remains challenging due to intertwined spatial, temporal, and contextual factors in urban traffic. We propose MSGAT-GRU, a multi-scale graph attention and recurrent model that jointly captures localized…