相关论文: Multi-Agent Trajectory Prediction with Difficulty-…

Anticipating the motion of other road users is crucial for automated driving systems (ADS), as it enables safe and informed downstream decision-making and motion planning. Unfortunately, contemporary learning-based approaches for motion…

Predicting the future motion of actors in a traffic scene is a crucial part of any autonomous driving system. Recent research in this area has focused on trajectory prediction approaches that optimize standard trajectory error metrics. In…

Finding feasible, collision-free paths for multiagent systems can be challenging, particularly in non-communicating scenarios where each agent's intent (e.g. goal) is unobservable to the others. In particular, finding time efficient paths…

Forecasting the future behavior of all traffic agents in the vicinity is a key task to achieve safe and reliable autonomous driving systems. It is a challenging problem as agents adjust their behavior depending on their intentions, the…

Autonomous driving presents one of the largest problems that the robotics and artificial intelligence communities are facing at the moment, both in terms of difficulty and potential societal impact. Self-driving vehicles (SDVs) are expected…

In this paper, we propose the Deep Structured self-Driving Network (DSDNet), which performs object detection, motion prediction, and motion planning with a single neural network. Towards this goal, we develop a deep structured energy based…

We develop a new framework for multi-agent collision avoidance problem. The framework combined traditional pathfinding algorithm and reinforcement learning. In our approach, the agents learn whether to be navigated or to take simple actions…

Predicting traffic agents' trajectories is an important task for auto-piloting. Most previous work on trajectory prediction only considers a single class of road agents. We use a sequence-to-sequence model to predict future paths from…

Trajectory prediction of road users in real-world scenarios is challenging because their movement patterns are stochastic and complex. Previous pedestrian-oriented works have been successful in modelling the complex interactions among…

Predicting the future behavior of agents is a fundamental task in autonomous vehicle domains. Accurate prediction relies on comprehending the surrounding map, which significantly regularizes agent behaviors. However, existing methods have…

Predicting the future motion of road agents is a critical task in an autonomous driving pipeline. In this work, we address the problem of generating a set of scene-level, or joint, future trajectory predictions in multi-agent driving…

In this work, we aim to predict the future motion of vehicles in a traffic scene by explicitly modeling their pairwise interactions. Specifically, we propose a graph neural network that jointly predicts the discrete interaction modes and…

Heterogeneous trajectory forecasting is critical for intelligent transportation systems, but it is challenging because of the difficulty of modeling the complex interaction relations among the heterogeneous road agents as well as their…

We propose advances that address two key challenges in future trajectory prediction: (i) multimodality in both training data and predictions and (ii) constant time inference regardless of number of agents. Existing trajectory predictions…

Trajectory prediction of agents is crucial for the safety of autonomous vehicles, whereas previous approaches usually rely on sufficiently long-observed trajectory to predict the future trajectory of the agents. However, in real-world…

Predicting the future motion of road participants is crucial for autonomous driving but is extremely challenging due to staggering motion uncertainty. Recently, most motion forecasting methods resort to the goal-based strategy, i.e.,…

Predicting future locations of agents in the scene is an important problem in self-driving. In recent years, there has been a significant progress in representing the scene and the agents in it. The interactions of agents with the scene and…

Understanding the behavior of road users is of vital importance for the development of trajectory prediction systems. In this context, the latest advances have focused on recurrent structures, establishing the social interaction between the…

Pedestrian trajectory prediction plays a pivotal role in ensuring the safety and efficiency of various applications, including autonomous vehicles and traffic management systems. This paper proposes a novel method for pedestrian trajectory…

Trajectory prediction, as a critical component of autonomous driving systems, has attracted the attention of many researchers. Existing prediction algorithms focus on extracting more detailed scene features or selecting more reasonable…