MP3: A Unified Model to Map, Perceive, Predict and Plan

CVPR 2021 (Best Paper Candidate, Oral)
Interpretable end-to-end neural motion planning without high-definition maps

LookOut: Diverse Multi-Future Prediction and Planning for Self-Driving

ICCV 2021 (Oral)
Contingency planning from diverse joint trajectory samples for all actors in the scene

TrafficSim: Learning to Simulate Realistic Multi-Agent Behaviors

CVPR 2021
Realistic long-term vehicle behavior simulation learned from imitation and common sense

Just Label What You Need: Fine-Grained Active Selection for Perception and Prediction through Partially Labeled Scenes

arXiv preprint 2021
Cost-aware active learning allows for fine-grained selection of examples through partially labeled scenes

AdvSim: Generating Safety-Critical Scenarios for Self-Driving Vehicles

CVPR 2021
Critical scenario generation by modifying the actors' trajectories in a physically plausible manner and updating the LiDAR sensor data to create realistic observations of the perturbed world

Deep Multi-Task Learning for Joint Localization, Perception, and Prediction

CVPR 2021
Efficient end-to-end joint localization, perception, prediction able to correct localization errors

Diverse Complexity Measures for Dataset Curation in Self-driving

IROS 2021
Model-agnostic approach to dataset curation for autonomy tasks

Safety-Oriented Pedestrian Motion and Scene Occupancy Forecasting

IROS 2021
Hybrid instance-based and instance-free approach to pedestrian behavior prediction

Strobe: Streaming Object Detection from LiDAR Packets

CoRL 2020 (Spotlight)
Existing LiDAR perception systems wait 100ms just to build a sweep. StrObe instead does streaming detection from LiDAR packets and achieve an end-to-end latency of 21ms

Implicit Latent Variable Model for Scene-Consistent Motion Forecasting

ECCV 2020
ILVM characterizes the joint distribution over multiple actors' future trajectories

Perceive, Predict, and Plan: Safe Motion Planning Through Interpretable Semantic Representations

ECCV 2020
End-to-end neural motion planner based on interpretable semantic scene occupancies

RadarNet: Exploiting Radar for Robust Perception of Dynamic Objects

ECCV 2020
Multi-level fusion of LiDAR & Radar for object detection and velocity estimation

The Importance of Prior Knowledge in Precise Multimodal Prediction

IROS 2020 (Oral)
Incorporate non-differentiable prior knowledge for behavior forecasting

PnPNet: End-to-End Perception and Prediction with Tracking in the Loop

CVPR 2020
Tracking in the loop in joint perception and prediction

Spatially-Aware Graph Neural Networks for Relational Behavior Forecasting from Sensor Data

ICRA 2020
Relational reasoning for multi-agent behavior prediction from sensors

Discrete Residual Flow for Probabilistic Pedestrian Behavior Prediction

CoRL 2019 (Spotlight)
Long-term pedestrian forecasting with occupancy grid maps

End-to-end Interpretable Neural Motion Planner

CVPR 2019 (Oral)
Neural motion planner from LiDAR and HD maps

Intentnet: Learning to Predict Intention from Raw Sensor Data

CoRL 2018 (Spotlight)
Joint perception and prediction from LiDAR point clouds and HD maps