相关论文: Context-free Self-Conditioned GAN for Trajectory F…

This paper presents a novel approach to improving autonomous vehicle control in environments lacking clear road markings by integrating a diffusion-based motion predictor within an Active Inference Framework (AIF). Using a simulated parking…

Algorithms for motion planning in unknown environments are generally limited in their ability to reason about the structure of the unobserved environment. As such, current methods generally navigate unknown environments by relying on…

Accurately predicting the possible behaviors of traffic participants is an essential capability for autonomous vehicles. Since autonomous vehicles need to navigate in dynamically changing environments, they are expected to make accurate…

We introduce a framework for unsupervised learning of structured predictors with overlapping, global features. Each input's latent representation is predicted conditional on the observable data using a feature-rich conditional random field.…

Learning-based trajectory prediction models have encountered great success, with the promise of leveraging contextual information in addition to motion history. Yet, we find that state-of-the-art forecasting methods tend to overly rely on…

Human motion prediction is key to understand social environments, with direct applications in robotics, surveillance, etc. We present a simple yet effective pedestrian trajectory prediction model aimed at pedestrians positions prediction in…

We address the problem of forecasting pedestrian and vehicle trajectories in unknown environments, conditioned on their past motion and scene structure. Trajectory forecasting is a challenging problem due to the large variation in scene…

Trajectory prediction plays a crucial role in the autonomous driving stack by enabling autonomous vehicles to anticipate the motion of surrounding agents. Goal-based prediction models have gained traction in recent years for addressing the…

Autonomous driving gained huge traction in recent years, due to its potential to change the way we commute. Much effort has been put into trying to estimate the state of a vehicle. Meanwhile, learning to forecast the state of a vehicle…

In this paper, we introduce ID-Conditioned Auto-Encoder for unsupervised anomaly detection. Our method is an adaptation of the Class-Conditioned Auto-Encoder (C2AE) designed for the open-set recognition. Assuming that non-anomalous samples…

In autonomous navigation settings, several quantities can be subject to variations. Terrain properties such as friction coefficients may vary over time depending on the location of the robot. Also, the dynamics of the robot may change due…

Adding additional control to pretrained diffusion models has become an increasingly popular research area, with extensive applications in computer vision, reinforcement learning, and AI for science. Recently, several studies have proposed…

The significant achievements of pre-trained models leveraging large volumes of data in the field of NLP and 2D vision inspire us to explore the potential of extensive data pre-training for 3D perception in autonomous driving. Toward this…

The recent success in human action recognition with deep learning methods mostly adopt the supervised learning paradigm, which requires significant amount of manually labeled data to achieve good performance. However, label collection is an…

In this work, we aim to predict the future motion of vehicles in a traffic scene by explicitly modeling their pairwise interactions. Specifically, we propose a graph neural network that jointly predicts the discrete interaction modes and…

Model-based reinforcement learning (RL) enjoys several benefits, such as data-efficiency and planning, by learning a model of the environment's dynamics. However, learning a global model that can generalize across different dynamics is a…

Meta-gradient methods (Xu et al., 2018; Zahavy et al., 2020) offer a promising solution to the problem of hyperparameter selection and adaptation in non-stationary reinforcement learning problems. However, the properties of meta-gradients…

Recently, several methods based on generative adversarial network (GAN) have been proposed for the task of aligning cross-domain images or learning a joint distribution of cross-domain images. One of the methods is to use conditional GAN…

Recent unsupervised pre-training methods have shown to be effective on language and vision domains by learning useful representations for multiple downstream tasks. In this paper, we investigate if such unsupervised pre-training methods can…

Robust road segmentation in all road conditions is required for safe autonomous driving and advanced driver assistance systems. Supervised deep learning methods provide accurate road segmentation in the domain of their training data but…