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

We present DriveGPT, a scalable behavior model for autonomous driving. We model driving as a sequential decision-making task, and learn a transformer model to predict future agent states as tokens in an autoregressive fashion. We scale up…

In this paper, we introduce a novel approach to trajectory generation for autonomous driving, combining the strengths of Diffusion models and Transformers. First, we use the historical trajectory data for efficient preprocessing and…

Trajectory prediction is a challenging problem that requires considering interactions among multiple actors and the surrounding environment. While data-driven approaches have been used to address this complex problem, they suffer from…

For robots to be a part of our daily life, they need to be able to navigate among crowds not only safely but also in a socially compliant fashion. This is a challenging problem because humans tend to navigate by implicitly cooperating with…

This paper presents an end-to-end approach for tracking static and dynamic objects for an autonomous vehicle driving through crowded urban environments. Unlike traditional approaches to tracking, this method is learned end-to-end, and is…

Accurate trajectory prediction is crucial for ensuring safe and efficient autonomous driving. However, most existing methods overlook complex interactions between traffic participants that often govern their future trajectories. In this…

Autonomous vehicles (AVs) rely on accurate trajectory prediction of surrounding vehicles to ensure the safety of both passengers and other road users. Trajectory prediction spans both short-term and long-term horizons, each requiring…

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…

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 paper we treat optimal trajectory planning for an autonomous vehicle (AV) operating in dense traffic, where vehicles closely interact with each other. To tackle this problem, we present a novel framework that couples trajectory…

The search for predictive models that generalize to the long tail of sensor inputs is the central difficulty when developing data-driven models for autonomous vehicles. In this paper, we use lane detection to study modeling and training…

Trajectory prediction, as a critical component of autonomous driving systems, has attracted the attention of many researchers. Existing prediction algorithms focus on extracting more detailed scene features or selecting more reasonable…

Predicting the future motion of observed vehicles is a crucial enabler for safe autonomous driving. The field of motion prediction has seen large progress recently with state-of-the-Art (sotA) models achieving impressive results on…

Predicting movement of objects while the action of learning agent interacts with the dynamics of the scene still remains a key challenge in robotics. We propose a multi-layer Long Short Term Memory (LSTM) autoendocer network that predicts…

Motion prediction has been an essential component of autonomous driving systems since it handles highly uncertain and complex scenarios involving moving agents of different types. In this paper, we propose a Multi-Granular TRansformer…

Being able to safely operate for extended periods of time in dynamic environments is a critical capability for autonomous systems. This generally involves the prediction and understanding of motion patterns of dynamic entities, such as…

Existing sentence ordering approaches generally employ encoder-decoder frameworks with the pointer net to recover the coherence by recurrently predicting each sentence step-by-step. Such an autoregressive manner only leverages unilateral…

Understanding human motion behaviour is a critical task for several possible applications like self-driving cars or social robots, and in general for all those settings where an autonomous agent has to navigate inside a human-centric…

In this paper, we present a context-free unsupervised approach based on a self-conditioned GAN to learn different modes from 2D trajectories. Our intuition is that each mode indicates a different behavioral moving pattern in the…

Forecasting future trajectories of agents in complex traffic scenes requires reliable and efficient predictions for all agents in the scene. However, existing methods for trajectory prediction are either inefficient or sacrifice accuracy.…