相关论文: DONUT: A Decoder-Only Model for Trajectory Predict…

Motion prediction is a challenging problem in autonomous driving as it demands the system to comprehend stochastic dynamics and the multi-modal nature of real-world agent interactions. Diffusion models have recently risen to prominence, and…

The development of language models have moved from encoder-decoder to decoder-only designs. In addition, we observe that the two most popular multimodal tasks, the generative and contrastive tasks, are nontrivial to accommodate in one…

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…

Accurate motion prediction of pedestrians, cyclists, and other surrounding vehicles (all called agents) is very important for autonomous driving. Most existing works capture map information through an one-stage interaction with map by…

Understanding the behavior of road users is of vital importance for the development of trajectory prediction systems. In this context, the latest advances have focused on recurrent structures, establishing the social interaction between the…

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…

Most prior motion prediction endeavors in autonomous driving have inadequately encoded future scenarios, leading to predictions that may fail to accurately capture the diverse movements of agents (e.g., vehicles or pedestrians). To address…

It is desirable to predict the behavior of traffic participants conditioned on different planned trajectories of the autonomous vehicle. This allows the downstream planner to estimate the impact of its decisions. Recent approaches for…

Predicting future behavior of the surrounding vehicles is crucial for self-driving platforms to safely navigate through other traffic. This is critical when making decisions like crossing an unsignalized intersection. We address the problem…

Next-token prediction is conventionally done using decoder-only Transformers with causal attention, as this approach allows for efficient reuse of keys and values. What if we were not compute-limited, should we still use decoder-only…

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 future trajectories of surrounding obstacles is a crucial task for autonomous driving cars to achieve a high degree of road safety. There are several challenges in trajectory prediction in real-world traffic scenarios, including…

Autonomous driving systems require a comprehensive understanding of the environment, achieved by extracting visual features essential for perception, planning, and control. However, models trained solely on single-task objectives or generic…

Predicting the future motion of traffic agents is crucial for safe and efficient autonomous driving. To this end, we present PredictionNet, a deep neural network (DNN) that predicts the motion of all surrounding traffic agents together with…

Simulating realistic behaviors of traffic agents is pivotal for efficiently validating the safety of autonomous driving systems. Existing data-driven simulators primarily use an encoder-decoder architecture to encode the historical…

Realizing delay-capacity in intermittently connected mobile networks remains a largely open question, with state-of-the-art routing schemes typically focusing either on delay or on capacity. We show the feasibility of routing with both high…

This paper proposes a novel deep learning framework for multi-modal motion prediction. The framework consists of three parts: recurrent neural networks to process the target agent's motion process, convolutional neural networks to process…

Predicting future trajectories is critical in autonomous navigation, especially in preventing accidents involving humans, where a predictive agent's ability to anticipate in advance is of utmost importance. Trajectory forecasting models,…

Existing top-performance autonomous driving systems typically rely on the multi-modal fusion strategy for reliable scene understanding. This design is however fundamentally restricted due to overlooking the modality-specific strengths and…

Trajectory prediction of agents is crucial for the safety of autonomous vehicles, whereas previous approaches usually rely on sufficiently long-observed trajectory to predict the future trajectory of the agents. However, in real-world…