相关论文: ModeSeq: Taming Sparse Multimodal Motion Predictio…

Multimodal motion forecasting is inherently under-supervised: each training scene provides only one realized future, yet multiple plausible futures exist. This sparse supervision often leads to mode collapse (redundant hypotheses and…

Obtaining accurate information about future traffic flows of all links in a traffic network is of great importance for traffic management and control applications. This research studies two particular problems in traffic forecasting: (1)…

Reliable forecasting of the future behavior of road agents is a critical component to safe planning in autonomous vehicles. Here, we represent continuous trajectories as sequences of discrete motion tokens and cast multi-agent motion…

Empowering models to dynamically accomplish tasks specified through natural language instructions represents a promising path toward more capable and general artificial intelligence. In this work, we introduce InstructSeq, an…

The multi-modality and stochastic characteristics of human behavior make motion prediction a highly challenging task, which is critical for autonomous driving. While deep learning approaches have demonstrated their great potential in this…

In many real-world applications, modeling both the internal structure of sets and their temporal relationships is essential for capturing complex underlying patterns. Sequential multiple-instance learning aims to address this challenge by…

The well-established modular autonomous driving system is decoupled into different standalone tasks, e.g. perception, prediction and planning, suffering from information loss and error accumulation across modules. In contrast, end-to-end…

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…

Predicting the behaviour (i.e., manoeuvre/trajectory) of other road users, including vehicles, is critical for the safe and efficient operation of autonomous vehicles (AVs), a.k.a., automated driving systems (ADSs). Due to the uncertain…

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…

Multi-agent trajectory forecasting in autonomous driving requires an agent to accurately anticipate the behaviors of the surrounding vehicles and pedestrians, for safe and reliable decision-making. Due to partial observability in these…

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…

Human state detection and behavior prediction have seen significant advancements with the rise of machine learning and multimodal sensing technologies. However, predicting prosocial behavior intentions in mobility scenarios, such as helping…

Future prediction is a fundamental principle of intelligence that helps plan actions and avoid possible dangers. As the future is uncertain to a large extent, modeling the uncertainty and multimodality of the future states is of great…

Predicting multiple plausible future trajectories of the nearby vehicles is crucial for the safety of autonomous driving. Recent motion prediction approaches attempt to achieve such multimodal motion prediction by implicitly regularizing…

Accurate trajectory prediction has long been a major challenge for autonomous driving (AD). Traditional data-driven models predominantly rely on statistical correlations, often overlooking the causal relationships that govern traffic…

Temporal prediction is critical for making intelligent and robust decisions in complex dynamic environments. Motion prediction needs to model the inherently uncertain future which often contains multiple potential outcomes, due to…

Predicting the motion of other road agents enables autonomous vehicles to perform safe and efficient path planning. This task is very complex, as the behaviour of road agents depends on many factors and the number of possible future…

Multistep traffic forecasting on road networks is a crucial task in successful intelligent transportation system applications. To capture the complex non-stationary temporal dynamics and spatial dependency in multistep traffic-condition…

We present CoverNet, a new method for multimodal, probabilistic trajectory prediction for urban driving. Previous work has employed a variety of methods, including multimodal regression, occupancy maps, and 1-step stochastic policies. We…