相关论文: Predict and Resist: Long-Term Accident Anticipatio…

One of the greatest challenges towards fully autonomous cars is the understanding of complex and dynamic scenes. Such understanding is needed for planning of maneuvers, especially those that are particularly frequent such as lane changes.…

Controllable scene generation could reduce the cost of diverse data collection substantially for autonomous driving. Prior works formulate the traffic layout generation as predictive progress, either by denoising entire sequences at once or…

Autonomous Underwater Vehicles (AUVs) are indispensable for marine exploration; yet, their control is hindered by nonlinear hydrodynamics, time-varying disturbances, and localization uncertainty. Traditional controllers provide only limited…

Previous visual object tracking methods employ image-feature regression models or coordinate autoregression models for bounding box prediction. Image-feature regression methods heavily depend on matching results and do not utilize…

Effective long-term predictions have been increasingly demanded in urban-wise data mining systems. Many practical applications, such as accident prevention and resource pre-allocation, require an extended period for preparation. However,…

Active traffic management with autonomous vehicles offers the potential for reduced congestion and improved traffic flow. However, developing effective algorithms for real-world scenarios requires overcoming challenges related to…

Computer vision techniques play a central role in the perception stack of autonomous vehicles. Such methods are employed to perceive the vehicle surroundings given sensor data. 3D LiDAR sensors are commonly used to collect sparse 3D point…

In recent years, diffusion models have demonstrated remarkable potential across diverse domains, from vision generation to language modeling. Transferring its generative capabilities to modern end-to-end autonomous driving systems has also…

We propose self-diffusion, a novel framework for solving inverse problems without relying on pretrained generative models. Traditional diffusion-based approaches require training a model on a clean dataset to learn to reverse the forward…

Real-time traffic prediction models play a pivotal role in smart mobility systems and have been widely used in route guidance, emerging mobility services, and advanced traffic management systems. With the availability of massive traffic…

The validation of autonomous driving systems benefits greatly from the ability to generate scenarios that are both realistic and precisely controllable. Conventional approaches, such as real-world test drives, are not only expensive but…

With the rapid development of urbanization, the boom of vehicle numbers has resulted in serious traffic accidents, which led to casualties and huge economic losses. The ability to predict the risk of traffic accident is important in the…

Trajectory prediction is a key element of autonomous vehicle systems, enabling them to anticipate and react to the movements of other road users. Evaluating the robustness of prediction models against adversarial attacks is essential to…

Traffic accident anticipation aims to predict accidents from dashcam videos as early as possible, which is critical to safety-guaranteed self-driving systems. With cluttered traffic scenes and limited visual cues, it is of great challenge…

Acting in cluttered environments requires predicting and avoiding collisions while still achieving precise control. Conventional optimization-based controllers can enforce physical constraints, but they struggle to produce feasible…

Driver distraction a significant risk to driving safety. Apart from spatial domain, research on temporal inattention is also necessary. This paper aims to figure out the pattern of drivers' temporal attention allocation. In this paper, we…

High-speed, low-latency obstacle avoidance that is insensitive to sensor noise is essential for enabling multiple decentralized robots to function reliably in cluttered and dynamic environments. While other distributed multi-agent collision…

In this paper, we present a novel diffusion-based model for lane detection, called DiffusionLane, which treats the lane detection task as a denoising diffusion process in the parameter space of the lane. Firstly, we add the Gaussian noise…

Anticipating future actions is inherently uncertain. Given an observed video segment containing ongoing actions, multiple subsequent actions can plausibly follow. This uncertainty becomes even larger when predicting far into the future.…

Motion planning in dynamic urban environments requires balancing immediate safety with long-term goals. While diffusion models effectively capture multi-modal decision-making, existing approaches treat trajectories as monolithic entities,…