4 papers · 1 filter
MoCAR: Motion-code Coordinate-aware AutoRegression for Continuous Trajectory Forecasting
Yiming Xu, Hao Cheng, Monika Sester
Autoregressive generation is natural for language, where predicted tokens can be directly reused as the next prediction state, but trajectory forecasting lacks such a clean token:…
Seeing Before Answering: Training-Free Visual Layer Profiling for Vision-Language Models
Ruchen Liu, Yi Yang, Yiming Xu +3
LLaVA-style Vision-Language Models (VLMs) pass visual tokens from a fixed late layer of the vision backbone, typically the penultimate one, to the language model. We first show tha…
HiMAP: History-aware Map-occupancy Prediction with Fallback
Yiming Xu, Yi Yang, Hao Cheng +1
Accurate motion forecasting is critical for autonomous driving, yet most predictors rely on multi-object tracking (MOT) with identity association, assuming that objects are correct…
Controllable Diverse Sampling for Diffusion Based Motion Behavior Forecasting
Yiming Xu, Hao Cheng, Monika Sester
In autonomous driving tasks, trajectory prediction in complex traffic environments requires adherence to real-world context conditions and behavior multimodalities. Existing method…