相关论文: A Joint Prediction Method of Multi-Agent to Reduce…

Deepgenerative models havebecomeapromisingapproach for human motion prediction due to their ability to capture multimodal distributions and represent diverse human be haviors. However, generating predictions that are both di verse and…

Forecasting the future trajectories of surrounding agents is crucial for autonomous vehicles to ensure safe, efficient, and comfortable route planning. While model ensembling has improved prediction accuracy in various fields, its…

We describe a robust planning method for autonomous driving that mixes normal and adversarial agent predictions output by a diffusion model trained for motion prediction. We first train a diffusion model to learn an unbiased distribution of…

Motion prediction is crucial for autonomous vehicles to operate safely in complex traffic environments. Extracting effective spatiotemporal relationships among traffic elements is key to accurate forecasting. Inspired by the successful…

Predicting the future behavior of road users is one of the most challenging and important problems in autonomous driving. Applying deep learning to this problem requires fusing heterogeneous world state in the form of rich perception…

This paper introduces UniGen, a novel approach to generating new traffic scenarios for evaluating and improving autonomous driving software through simulation. Our approach models all driving scenario elements in a unified model: the…

Motion prediction for intelligent vehicles typically focuses on estimating the most probable future evolutions of a traffic scenario. Estimating the gap acceptance, i.e., whether a vehicle merges or crosses before another vehicle with the…

This paper introduces a novel algorithm for multiagent offline trajectory generation based on distributed model predictive control. Central to the algorithm's scalability and success is the development of an on-demand collision avoidance…

The goal of autonomous vehicles is to navigate public roads safely and comfortably. To enforce safety, traditional planning approaches rely on handcrafted rules to generate trajectories. Machine learning-based systems, on the other hand,…

Multi-agent trajectory prediction is a fundamental problem in autonomous driving. The key challenges in prediction are accurately anticipating the behavior of surrounding agents and understanding the scene context. To address these…

Stochastic Human Trajectory Prediction (HTP) using generative modeling has emerged as a significant area of research. Although state-of-the-art models excel in optimizing the accuracy of individual agents, they often struggle to generate…

Predicting the motion of agents such as pedestrians or human-driven vehicles is one of the most critical problems in the autonomous driving domain. The overall safety of driving and the comfort of a passenger directly depend on its…

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…

Trajectory prediction in urban mixed-traffic zones (a.k.a. shared spaces) is critical for many intelligent transportation systems, such as intent detection for autonomous driving. However, there are many challenges to predict the…

Human drivers can recognise fast abnormal driving situations to avoid accidents. Similar to humans, automated vehicles are supposed to perform anomaly detection. In this work, we propose the spatio-temporal graph auto-encoder for learning…

Predicting future trajectories of surrounding traffic agents is critical for safe autonomous navigation and collision avoidance. Despite all advances in the trajectory forecasting realm, the prediction models remains vulnerable to…

Autonomous Vehicle decisions rely on multimodal prediction models that account for multiple route options and the inherent uncertainty in human behavior. However, models can suffer from mode collapse, where only the most likely mode is…

Multi-agent motion prediction is a crucial concern in autonomous driving, yet it remains a challenge owing to the ambiguous intentions of dynamic agents and their intricate interactions. Existing studies have attempted to capture…

An effective understanding of the environment and accurate trajectory prediction of surrounding dynamic obstacles are indispensable for intelligent mobile systems (e.g. autonomous vehicles and social robots) to achieve safe and high-quality…

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…