相关论文: Motion Forecasting in Continuous Driving

Motion forecasting is a core task in autonomous driving systems, aiming to accurately predict the future trajectories of surrounding agents to ensure driving safety. Existing methods typically process discrete driving scenes independently,…

Future trajectories of neighboring traffic agents have a significant influence on the path planning and decision-making of autonomous vehicles. While trajectory forecasting is a well-studied field, research mainly focuses on snapshot-based…

In dynamic traffic environments, motion forecasting models must be able to accurately estimate future trajectories continuously. Streaming-based methods are a promising solution, but despite recent advances, their performance often degrades…

Self-driving vehicles rely on multimodal motion forecasts to effectively interact with their environment and plan safe maneuvers. We introduce SceneMotion, an attention-based model for forecasting scene-wide motion modes of multiple traffic…

Representing diverse and plausible future trajectories is critical for motion forecasting in autonomous driving. However, efficiently capturing these trajectories in a compact set remains challenging. This study introduces a novel approach…

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…

Motion forecasting aims to predict the future trajectories of dynamic agents in the scene, enabling autonomous vehicles to effectively reason about scene evolution. Existing approaches operate under the closed-world regime and assume fixed…

Predicting the motion of multiple agents is necessary for planning in dynamic environments. This task is challenging for autonomous driving since agents (e.g. vehicles and pedestrians) and their associated behaviors may be diverse and…

Motion forecasts of road users (i.e., agents) vary in complexity depending on the number of agents, scene constraints, and interactions. In particular, the output space of joint trajectory distributions grows exponentially with the number…

In recent years, the field of autonomous driving has attracted increasingly significant public interest. Accurately forecasting the future behavior of various traffic participants is essential for the decision-making of Autonomous Vehicles…

Due to the complex and changing interactions in dynamic scenarios, motion forecasting is a challenging problem in autonomous driving. Most existing works exploit static road graphs to characterize scenarios and are limited in modeling…

Robust motion forecasting of the dynamic scene is a critical component of an autonomous vehicle. It is a challenging problem due to the heterogeneity in the scene and the inherent uncertainties in the problem. To improve the accuracy of…

Trajectory forecasting, or trajectory prediction, of multiple interacting agents in dynamic scenes, is an important problem for many applications, such as robotic systems and autonomous driving. The problem is a great challenge because of…

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…

Accurate motion forecasting for traffic agents is crucial for ensuring the safety and efficiency of autonomous driving systems in dynamically changing environments. Mainstream methods adopt a one-query-one-trajectory paradigm, where each…

Trajectory forecasting is a widely-studied problem for autonomous navigation. However, existing benchmarks evaluate forecasting based on independent snapshots of trajectories, which are not representative of real-world applications that…

Predicting the trajectories of surrounding agents is an essential ability for autonomous vehicles navigating through complex traffic scenes. The future trajectories of agents can be inferred using two important cues: the locations and past…

Forecasting vehicular motions in autonomous driving requires a deep understanding of agent interactions and the preservation of motion equivariance under Euclidean geometric transformations. Traditional models often lack the sophistication…

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…

Accurate motion prediction of surrounding agents is crucial for the safe planning of autonomous vehicles. Recent advancements have extended prediction techniques from individual agents to joint predictions of multiple interacting agents,…