Manoj Bhat

Manoj Bhat, Jonathan Francis, Jean Oh

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 limitations in representing the scene context, leading to predictions of inadmissible futures. We alleviate these limitations through the use of self-attention, which enables better control over representing the agent's social context; we propose a local feature-extraction pipeline that produces more salient information downstream, with improved parameter efficiency. We show improvements on standard metrics (minADE, minFDE, DAO, DAC) over various baselines on the Argoverse dataset. We release our code at: https://github.com/Manojbhat09/Trajformer

Seong Hyeon Park, Gyubok Lee, Manoj Bhat et al.

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 dynamical scenes, directly obtaining the posterior distribution over future agent trajectories remains a challenging problem. In realistic embodied environments, each agent's future trajectories should be both diverse since multiple plausible sequences of actions can be used to reach its intended goals, and admissible since they must obey physical constraints and stay in drivable areas. In this paper, we propose a model that synthesizes multiple input signals from the multimodal world|the environment's scene context and interactions between multiple surrounding agents|to best model all diverse and admissible trajectories. We compare our model with strong baselines and ablations across two public datasets and show a significant performance improvement over previous state-of-the-art methods. Lastly, we offer new metrics incorporating admissibility criteria to further study and evaluate the diversity of predictions. Codes are at: https://github.com/kami93/CMU-DATF.