相关论文: Scene-Aware Explainable Multimodal Trajectory Pred…

Accurate prediction of pedestrian trajectories is essential for applications in robotics and surveillance systems. While existing approaches primarily focus on social interactions between pedestrians, they often overlook the rich…

Automated creation of synthetic traffic scenarios is a key part of validating the safety of autonomous vehicles (AVs). In this paper, we propose Scenario Diffusion, a novel diffusion-based architecture for generating traffic scenarios that…

Trajectory prediction is crucial for autonomous driving, enabling vehicles to navigate safely by anticipating the movements of surrounding road users. However, current deep learning models often lack trustworthiness as their predictions can…

Recently, world models have been incorporated into the autonomous driving systems to improve the planning reliability. Existing approaches typically predict future states through appearance generation or deterministic regression, which…

A multi-modal framework to generate user intention distributions when operating a mobile vehicle is proposed in this work. The model learns from past observed trajectories and leverages traversability information derived from the visual…

Trajectory forecasting has become a popular deep learning task due to its relevance for scenario simulation for autonomous driving. Specifically, trajectory forecasting predicts the trajectory of a short-horizon future for specific human…

Predicting the plausible future trajectories of nearby agents is a core challenge for the safety of Autonomous Vehicles and it mainly depends on two external cues: the dynamic neighbor agents and static scene context. Recent approaches have…

Trajectory prediction facilitates effective planning and decision-making, while constrained trajectory prediction integrates regulation into prediction. Recent advances in constrained trajectory prediction focus on structured constraints by…

Predicting the possible future trajectories of the surrounding dynamic agents is an essential requirement in autonomous driving. These trajectories mainly depend on the surrounding static environment, as well as the past movements of those…

Accurate trajectory prediction and motion planning are crucial for autonomous driving systems to navigate safely in complex, interactive environments characterized by multimodal uncertainties. However, current generation-then-evaluation…

Real-time, accurate prediction of human steering behaviors has wide applications, from developing intelligent traffic systems to deploying autonomous driving systems in both real and simulated worlds. In this paper, we present ContextVAE, a…

Multi-agent interacting systems are prevalent in the world, from pure physical systems to complicated social dynamic systems. In many applications, effective understanding of the situation and accurate trajectory prediction of interactive…

As autonomous driving technology matures, safety and robustness of its key components, including trajectory prediction, is vital. Though real-world datasets, such as Waymo Open Motion, provide realistic recorded scenarios for model…

Occlusion-aware prediction remains a critical challenge in autonomous driving due to the inherent uncertainty of unobserved regions. Existing approaches either overestimate risk based on reachable states or struggle to predict accurate…

Human motion prediction is key to understand social environments, with direct applications in robotics, surveillance, etc. We present a simple yet effective pedestrian trajectory prediction model aimed at pedestrians positions prediction in…

Reasoning about human motion is an important prerequisite to safe and socially-aware robotic navigation. As a result, multi-agent behavior prediction has become a core component of modern human-robot interactive systems, such as…

Synthesis of diverse driving scenes serves as a crucial data augmentation technique for validating the robustness and generalizability of autonomous driving systems. Current methods aggregate high-definition (HD) maps and 3D bounding boxes…

Robust and accurate perception of humans in their 3D scene context is essential for integrating robots into everyday environments. Existing approaches, however, often fail to predict plausible and accurate human motion estimates that are…

Reasoning about vehicle path prediction is an essential and challenging problem for the safe operation of autonomous driving systems. There exist many research works for path prediction. However, most of them do not use lane information and…

Contextual information is vital for accurate trajectory prediction. For instance, the intricate flying behavior of migratory birds hinges on their analysis of environmental cues such as wind direction and air pressure. However, the diverse…