4 papers
Active Interaction-Aware Model Predictive Path Integral via Ego-Conditioned Generative Predictions
Khaled A. Mustafa, Mohamed-Khalil Bouzidi, Christian Schlauch +4
Dense traffic is inherently interactive. The ego vehicle and surrounding agents continuously influence each other's reactions, making "what-if" reasoning essential for safe and eff…
EP-Diffuser: An Efficient Diffusion Model for Traffic Scene Generation and Prediction via Polynomial Representations
Yue Yao, Mohamed-Khalil Bouzidi, Daniel Goehring +1
As the prediction horizon increases, predicting the future evolution of traffic scenes becomes increasingly difficult due to the multi-modal nature of agent motion. Most state-of-t…
Reachability-Based Contingency Planning against Multi-Modal Predictions with Branch MPC
Mohamed-Khalil Bouzidi, Bojan Derajic, Daniel Goehring +1
This paper presents a novel contingency planning framework that integrates learning-based multi-modal predictions of traffic participants into Branch Model Predictive Control (MPC)…
Beyond In-Distribution Performance: A Cross-Dataset Study of Trajectory Prediction Robustness
Yue Yao, Daniel Goehring, Joerg Reichardt
We study the Out-of-Distribution (OoD) generalization ability of three SotA trajectory prediction models with comparable In-Distribution (ID) performance but different model design…