相关论文: PlanTRansformer: Unified Prediction and Planning w…

Predicting multimodal future behavior of traffic participants is essential for robotic vehicles to make safe decisions. Existing works explore to directly predict future trajectories based on latent features or utilize dense goal candidates…

Motion prediction and cost evaluation are vital components in the decision-making system of autonomous vehicles. However, existing methods often ignore the importance of cost learning and treat them as separate modules. In this study, we…

The field of motion prediction for automated driving has seen tremendous progress recently, bearing ever-more mighty neural network architectures. Leveraging these powerful models bears great potential for the closely related planning task.…

Motion prediction is crucial for autonomous driving systems to understand complex driving scenarios and make informed decisions. However, this task is challenging due to the diverse behaviors of traffic participants and complex…

Predicting the motion of multiple agents is necessary for planning in dynamic environments. This task is challenging for autonomous driving since agents (e.g. vehicles and pedestrians) and their associated behaviors may be diverse and…

The ability to accurately predict feasible multimodal future trajectories of surrounding traffic participants is crucial for behavior planning in autonomous vehicles. The Motion Transformer (MTR), a state-of-the-art motion prediction…

Planning and prediction are two important modules of autonomous driving and have experienced tremendous advancement recently. Nevertheless, most existing methods regard planning and prediction as independent and ignore the correlation…

In autonomous driving, accurately predicting the movements of other traffic participants is crucial, as it significantly influences a vehicle's planning processes. Modern trajectory prediction models strive to interpret complex patterns and…

Nowadays, our mobility systems are evolving into the era of intelligent vehicles that aim to improve road safety. Due to their vulnerability, pedestrians are the users who will benefit the most from these developments. However, predicting…

Reasoning about vehicle path prediction is an essential and challenging problem for the safe operation of autonomous driving systems. There exist many research works for path prediction. However, most of them do not use lane information and…

Planning an optimal route in a complex environment requires efficient reasoning about the surrounding scene. While human drivers prioritize important objects and ignore details not relevant to the decision, learning-based planners typically…

In tasks aiming for long-term returns, planning becomes essential. We study generative modeling for planning with datasets repurposed from offline reinforcement learning. Specifically, we identify temporal consistency in the absence of…

Understanding trajectory diversity is a fundamental aspect of addressing practical traffic tasks. However, capturing the diversity of trajectories presents challenges, particularly with traditional machine learning and recurrent neural…

To plan a safe and efficient route, an autonomous vehicle should anticipate future motions of other agents around it. Motion prediction is an extremely challenging task which recently gained significant attention of the research community.…

Autonomous vehicles operating in complex real-world environments require accurate predictions of interactive behaviors between traffic participants. This paper tackles the interaction prediction problem by formulating it with hierarchical…

Traffic prediction remains a key challenge in spatio-temporal data mining, despite progress in deep learning. Accurate forecasting is hindered by the complex influence of external factors such as traffic accidents and regulations, often…

Trajectory prediction is an essential step in the pipeline of an autonomous vehicle. Inaccurate or inconsistent predictions regarding the movement of agents in its surroundings lead to poorly planned maneuvers and potentially dangerous…

Reliable uncertainty quantification is critical in multivariate time series forecasting problems arising in domains such as energy systems and transportation networks, among many others. Although Transformer-based architectures have…

Self-driving vehicles rely on sensory input to monitor their surroundings and continuously adapt to the most likely future road course. Predictive trajectory planning is based on snapshots of the (uncertain) road course as a key input.…

Reasoning about human motion is an important prerequisite to safe and socially-aware robotic navigation. As a result, multi-agent behavior prediction has become a core component of modern human-robot interactive systems, such as…