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

We introduce ForeSight, a novel joint detection and forecasting framework for vision-based 3D perception in autonomous vehicles. Traditional approaches treat detection and forecasting as separate sequential tasks, limiting their ability to…

Motion prediction is critical for autonomous vehicles to effectively navigate complex environments and accurately anticipate the behaviors of other traffic participants. As autonomous driving continues to evolve, the need to assimilate new…

The ability to sequence unordered events is an essential skill to comprehend and reason about real world task procedures, which often requires thorough understanding of temporal common sense and multimodal information, as these procedures…

Predicting diverse object motions from a single static image remains challenging, as current video generation models often entangle object movement with camera motion and other scene changes. While recent methods can predict specific…

We consider the problem of quantitative predictive monitoring (QPM) of stochastic systems, i.e., predicting at runtime the degree of satisfaction of a desired temporal logic property from the current state of the system. Since computational…

As autonomous driving technology progresses, the need for precise trajectory prediction models becomes paramount. This paper introduces an innovative model that infuses cognitive insights into trajectory prediction, focusing on perceived…

Prediction of human motions is key for safe navigation of autonomous robots among humans. In cluttered environments, several motion hypotheses may exist for a pedestrian, due to its interactions with the environment and other pedestrians.…

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…

In this extended abstract, we report on ongoing work towards an approximate multimodal optimization algorithm with asymptotic guarantees. Multimodal optimization is the problem of finding all local optimal solutions (modes) to a path…

Moving Object Detection (MOD) is a crucial task for the Autonomous Driving pipeline. MOD is usually handled via 2-stream convolutional architectures that incorporates both appearance and motion cues, without considering the inter-relations…

Identity Switching remains one of the main difficulties Multiple Object Tracking (MOT) algorithms have to deal with. Many state-of-the-art approaches now use sequence models to solve this problem but their training can be affected by biases…

In recent years, great efforts have been devoted to deep imitation learning for autonomous driving control, where raw sensory inputs are directly mapped to control actions. However, navigating through densely populated intersections remains…

Parking accurately and safely in highly constrained spaces remains a critical challenge. Unlike structured driving environments, parking requires executing complex maneuvers such as frequent gear shifts and steering saturation. Recent…

Accurate traffic state prediction is the foundation of transportation control and guidance. It is very challenging due to the complex spatiotemporal dependencies in traffic data. Existing works cannot perform well for multi-step traffic…

Automated vehicles promise a future where drivers can engage in non-driving tasks without hands on the steering wheels for a prolonged period. Nevertheless, automated vehicles may still need to occasionally hand the control back to drivers…

Self-supervised feature learning enables perception systems to benefit from the vast raw data recorded by vehicle fleets worldwide. While video-level self-supervised learning approaches have shown strong generalizability on classification…

Accurate trajectory prediction is crucial for autonomous driving, yet uncertainty in agent behavior and perception noise makes it inherently challenging. While multi-modal trajectory prediction models generate multiple plausible future…

This paper proposes an integrated approach for the safe and efficient control of mobile robots in dynamic and uncertain environments. The approach consists of two key steps: one-shot multimodal motion prediction to anticipate motions of…

Trajectory sampling in the Frenet(road-aligned) frame, is one of the most popular methods for motion planning of autonomous vehicles. It operates by sampling a set of behavioural inputs, such as lane offset and forward speed, before solving…

With the advancement of autonomous and assisted driving technologies, higher demands are placed on the ability to understand complex driving scenarios. Multimodal general large models have emerged as a solution for this challenge. However,…