Computer Science > Robotics
arXiv:2409.11676 (cs)
[Submitted on 18 Sep 2024]
Title:Hypergraph-based Motion Generation with Multi-modal Interaction Relational Reasoning
View a PDF of the paper titled Hypergraph-based Motion Generation with Multi-modal Interaction Relational Reasoning, by Keshu Wu and 5 other authors
View PDFHTML (experimental)Abstract:The intricate nature of real-world driving environments, characterized by dynamic and diverse interactions among multiple vehicles and their possible future states, presents considerable challenges in accurately predicting the motion states of vehicles and handling the uncertainty inherent in the predictions. Addressing these challenges requires comprehensive modeling and reasoning to capture the implicit relations among vehicles and the corresponding diverse behaviors. This research introduces an integrated framework for autonomous vehicles (AVs) motion prediction to address these complexities, utilizing a novel Relational Hypergraph Interaction-informed Neural mOtion generator (RHINO). RHINO leverages hypergraph-based relational reasoning by integrating a multi-scale hypergraph neural network to model group-wise interactions among multiple vehicles and their multi-modal driving behaviors, thereby enhancing motion prediction accuracy and reliability. Experimental validation using real-world datasets demonstrates the superior performance of this framework in improving predictive accuracy and fostering socially aware automated driving in dynamic traffic scenarios.
| Subjects: | Robotics (cs.RO); Artificial Intelligence (cs.AI); Machine Learning (cs.LG); Multiagent Systems (cs.MA) |
| Cite as: | arXiv:2409.11676 [cs.RO] |
| (orarXiv:2409.11676v1 [cs.RO] for this version) | |
| https://doi.org/10.48550/arXiv.2409.11676 arXiv-issued DOI via DataCite |
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View a PDF of the paper titled Hypergraph-based Motion Generation with Multi-modal Interaction Relational Reasoning, by Keshu Wu and 5 other authors
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