相关论文: SceneMotion: From Agent-Centric Embeddings to Scen…

In this work, we present a novel multi-modal multi-agent trajectory prediction architecture, focusing on map and interaction modeling using graph representation. For the purposes of map modeling, we capture rich topological structure into…

Current end-to-end autonomous driving planners are fundamentally reactive: they condition on historical and present observations to predict future actions. We argue that autonomous agents should instead imagine future scenes before…

Multi-agent motion prediction is challenging because it aims to foresee the future trajectories of multiple agents (\textit{e.g.} pedestrians) simultaneously in a complicated scene. Existing work addressed this challenge by either learning…

This paper proposes a novel deep learning framework for multi-modal motion prediction. The framework consists of three parts: recurrent neural networks to process the target agent's motion process, convolutional neural networks to process…

Multi-agent trajectory prediction in autonomous driving requires a comprehensive understanding of complex social dynamics. Existing methods, however, often struggle to capture the full richness of these dynamics, particularly the…

Multi-modal AI systems will likely become a ubiquitous presence in our everyday lives. A promising approach to making these systems more interactive is to embody them as agents within physical and virtual environments. At present, systems…

Estimating the joint distribution of on-road agents' future trajectories is essential for autonomous driving. In this technical report, we propose a next-generation framework for joint multi-agent trajectory prediction called QCNeXt. First,…

Accurate and reliable motion forecasting is essential for the safe deployment of autonomous vehicles (AVs), particularly in rare but safety-critical scenarios known as corner cases. Existing models often underperform in these situations due…

In visual semantic navigation, the robot navigates to a target object with egocentric visual observations and the class label of the target is given. It is a meaningful task inspiring a surge of relevant research. However, most of the…

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…

Realistic driving simulation requires that NPCs not only mimic natural driving behaviors but also react to the behavior of other simulated agents. Recent developments in diffusion-based scenario generation focus on creating diverse and…

Data-driven learning has advanced autonomous driving, yet task-specific models struggle with out-of-distribution scenarios due to their narrow optimization objectives and reliance on costly annotated data. We present DriveX, a…

Motion planning framed as optimisation in structured latent spaces has recently emerged as competitive with traditional methods in terms of planning success while significantly outperforming them in terms of computational speed. However,…

Forecasting long-term human motion is a challenging task due to the non-linearity, multi-modality and inherent uncertainty in future trajectories. The underlying scene and past motion of agents can provide useful cues to predict their…

This work studies the problem of predicting the sequence of future actions for surround vehicles in real-world driving scenarios. To this aim, we make three main contributions. The first contribution is an automatic method to convert the…

Predicting future motions of road participants is an important task for driving autonomously. Most existing models excel at predicting the marginal trajectory of a single agent, but predicting joint trajectories for multiple agents that are…

In autonomous driving, accurately interpreting the movements of other road users and leveraging this knowledge to forecast future trajectories is crucial. This is typically achieved through the integration of map data and tracked…

Autonomous vehicles navigate in dynamically changing environments under a wide variety of conditions, being continuously influenced by surrounding objects. Modelling interactions among agents is essential for accurately forecasting other…

For autonomous agents to successfully operate in the real world, anticipation of future events and states of their environment is a key competence. This problem can be formalized as a sequence prediction problem, where a number of…

This paper proposes a novel problem: vision-based perception to learn and predict the collective dynamics of multi-agent systems, specifically focusing on interaction strength and convergence time. Multi-agent systems are defined as…