相关论文: PanguMotion: Continuous Driving Motion Forecasting…

One of the critical challenges in automated driving is ensuring safety of automated vehicles despite the unknown behavior of the other vehicles. Although motion prediction modules are able to generate a probability distribution associated…

Recently, world models have been incorporated into the autonomous driving systems to improve the planning reliability. Existing approaches typically predict future states through appearance generation or deterministic regression, which…

Autonomous mobile robots (e.g., warehouse logistics robots) often need to traverse complex, obstacle-rich, and changing environments to reach multiple fixed goals (e.g., warehouse shelves). Traditional motion planners need to calculate the…

Autonomous systems, including robots and drones, face significant challenges when navigating through dynamic environments, particularly within urban settings where obstacles, fluctuating traffic, and pedestrian activity are constantly…

Human trajectory forecasting requires capturing the multimodal nature of pedestrian behavior. However, existing approaches suffer from prior misalignment. Their learned or fixed priors often fail to capture the full distribution of…

Predicting the possible future trajectories of the surrounding dynamic agents is an essential requirement in autonomous driving. These trajectories mainly depend on the surrounding static environment, as well as the past movements of those…

This paper proposes an integrated approach for the safe and efficient control of mobile robots in dynamic and uncertain environments. The approach consists of two key steps: one-shot multimodal motion prediction to anticipate motions of…

Effective feature-extraction is critical to models' contextual understanding, particularly for applications to robotics and autonomous driving, such as multimodal trajectory prediction. However, state-of-the-art generative methods face…

The challenge of navigation in environments with dynamic objects continues to be a central issue in the study of autonomous agents. While predictive methods hold promise, their reliance on precise state information makes them less practical…

Subseasonal forecasting, which is pivotal for agriculture, water resource management, and early warning of disasters, faces challenges due to the chaotic nature of the atmosphere. Recent advances in machine learning (ML) have revolutionized…

In this paper, we address the important problem in self-driving of forecasting multi-pedestrian motion and their shared scene occupancy map, critical for safe navigation. Our contributions are two-fold. First, we advocate for predicting…

Autonomous vehicles need to plan at the task level to compute a sequence of symbolic actions, such as merging left and turning right, to fulfill people's service requests, where efficiency is the main concern. At the same time, the vehicles…

Motion prediction of surrounding vehicles is one of the most important tasks handled by a self-driving vehicle, and represents a critical step in the autonomous system necessary to ensure safety for all the involved traffic actors. Recently…

Predicting future trajectories of traffic agents in highly interactive environments is an essential and challenging problem for the safe operation of autonomous driving systems. On the basis of the fact that self-driving vehicles are…

Predicting future trajectories of traffic agents in highly interactive environments is an essential and challenging problem for the safe operation of autonomous driving systems. On the basis of the fact that self-driving vehicles are…

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…

The Driving World Model (DWM), which focuses on predicting scene evolution during the driving process, has emerged as a promising paradigm in the pursuit of autonomous driving (AD). DWMs enable AD systems to better perceive, understand, and…

This work introduces a novel and adaptable architecture designed for real-time occupancy forecasting that outperforms existing state-of-the-art models on the Waymo Open Motion Dataset in Soft IOU. The proposed model uses recursive latent…

This paper introduces UniGen, a novel approach to generating new traffic scenarios for evaluating and improving autonomous driving software through simulation. Our approach models all driving scenario elements in a unified model: the…

Abstract: we present a framework for robust autonomous driving motion planning system in urban environments which includes trajectory refinement, trajectory interpolation, avoidance of static and dynamic obstacles, and trajectory tracking.…