相关论文: PanguMotion: Continuous Driving Motion Forecasting…

As autonomous driving technology progresses, the need for precise trajectory prediction models becomes paramount. This paper introduces an innovative model that infuses cognitive insights into trajectory prediction, focusing on perceived…

For safe operation, a robot must be able to avoid collisions in uncertain environments. Existing approaches for motion planning under uncertainties often assume parametric obstacle representations and Gaussian uncertainty, which can be…

In this paper, we present a novel trajectory prediction model for autonomous driving, combining a Characterized Diffusion Module and a Spatial-Temporal Interaction Network to address the challenges posed by dynamic and heterogeneous traffic…

Predicting the behavior of surrounding traffic participants is crucial for advanced driver assistance systems and autonomous driving. Most researchers however do not consider contextual knowledge when predicting vehicle motion. Extending…

Reliable autonomous driving relies on large-scale, well-labeled data and robust models. However, manual data collection is resource-intensive, and traditional simulation suffers from a persistent reality gap. While recent generative…

This paper presents GAMMA, a general motion prediction model that enables large-scale real-time simulation and planning for autonomous driving. GAMMA models heterogeneous, interactive traffic agents. They operate under diverse road…

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…

Motion Prediction (MP) of multiple surroundings agents is a crucial task in arbitrarily complex environments, from simple robots to Autonomous Driving Stacks (ADS). Current techniques tackle this problem using end-to-end pipelines, where…

Motion prediction (MP) of multiple agents is a crucial task in arbitrarily complex environments, from social robots to self-driving cars. Current approaches tackle this problem using end-to-end networks, where the input data is usually a…

Understanding the behavior of road users is of vital importance for the development of trajectory prediction systems. In this context, the latest advances have focused on recurrent structures, establishing the social interaction between the…

We present an integrated Task-Motion Planning (TMP) framework for navigation in large-scale environment. Autonomous robots operating in real world complex scenarios require planning in the discrete (task) space and the continuous (motion)…

Understanding occupant-vehicle interactions by modeling control transitions is important to ensure safe approaches to passenger vehicle automation. Models which contain contextual, semantically meaningful representations of driver states…

Smooth and seamless robot navigation while interacting with humans depends on predicting human movements. Forecasting such human dynamics often involves modeling human trajectories (global motion) or detailed body joint movements (local…

Dashboard cameras capture a tremendous amount of driving scene video each day. These videos are purposefully coupled with vehicle sensing data, such as from the speedometer and inertial sensors, providing an additional sensing modality for…

Multi-agent trajectory forecasting in autonomous driving requires an agent to accurately anticipate the behaviors of the surrounding vehicles and pedestrians, for safe and reliable decision-making. Due to partial observability in these…

Self-driving vehicles are a maturing technology with the potential to reshape mobility by enhancing the safety, accessibility, efficiency, and convenience of automotive transportation. Safety-critical tasks that must be executed by a…

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…

As an essential task in autonomous driving (AD), motion prediction aims to predict the future states of surround objects for navigation. One natural solution is to estimate the position of other agents in a step-by-step manner where each…

With growing numbers of intelligent autonomous systems in human environments, the ability of such systems to perceive, understand and anticipate human behavior becomes increasingly important. Specifically, predicting future positions of…

Predicting the trajectories of surrounding agents is an essential ability for autonomous vehicles navigating through complex traffic scenes. The future trajectories of agents can be inferred using two important cues: the locations and past…