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Dongchun Ren

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7 papers
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7

IROS Conference 2024 Conference Paper

FDNet: Feature Decoupling Framework for Trajectory Prediction

  • Yuhang Li 0007
  • Changsheng Li
  • Baoyu Fan
  • Rongqing Li
  • Ziyue Zhang
  • Dongchun Ren
  • Ye Yuan 0001
  • Guoren Wang

Trajectory prediction plays a significant role in autonomous driving, with current challenges primarily focused on capturing complex interactions in traffic scenes. Previous methods usually directly encode non-interactive and interactive information together, and then decode them for trajectory prediction. However, given the complexity inherent property in the trajectory generation process (e. g. , the generation of trajectory points are influenced by the interactions among multiple moving agents, as well as the interactions between agents and the static environment), previous approaches fail to precisely capture separate variations of the trajectory generation process. In this paper, we propose a general and plug-and-play feature decoupling framework for trajectory prediction called FDNet, which can learn the interactive and non-interactive factors in the latent space to capture separate variations of the trajectory generation process. At its core, FDNet is comprised of a Non-interactive Feature Extraction Module to extract non-interactive features, and an Interactive Feature Decoupling Module to decouple interactive features. Extensive experiments conducted on Argoverse and nuScenes demonstrate that FDNet significantly improves the performance of existing methods.

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NeurIPS Conference 2023 Conference Paper

BCDiff: Bidirectional Consistent Diffusion for Instantaneous Trajectory Prediction

  • Rongqing Li
  • Changsheng Li
  • Dongchun Ren
  • Guangyi Chen
  • Ye Yuan
  • Guoren Wang

The objective of pedestrian trajectory prediction is to estimate the future paths of pedestrians by leveraging historical observations, which plays a vital role in ensuring the safety of self-driving vehicles and navigation robots. Previous works usually rely on a sufficient amount of observation time to accurately predict future trajectories. However, there are many real-world situations where the model lacks sufficient time to observe, such as when pedestrians abruptly emerge from blind spots, resulting in inaccurate predictions and even safety risks. Therefore, it is necessary to perform trajectory prediction based on instantaneous observations, which has rarely been studied before. In this paper, we propose a Bi-directional Consistent Diffusion framework tailored for instantaneous trajectory prediction, named BCDiff. At its heart, we develop two coupled diffusion models by designing a mutual guidance mechanism which can bidirectionally and consistently generate unobserved historical trajectories and future trajectories step-by-step, to utilize the complementary information between them. Specifically, at each step, the predicted unobserved historical trajectories and limited observed trajectories guide one diffusion model to generate future trajectories, while the predicted future trajectories and observed trajectories guide the other diffusion model to predict unobserved historical trajectories. Given the presence of relatively high noise in the generated trajectories during the initial steps, we introduce a gating mechanism to learn the weights between the predicted trajectories and the limited observed trajectories for automatically balancing their contributions. By means of this iterative and mutually guided generation process, both the future and unobserved historical trajectories undergo continuous refinement, ultimately leading to accurate predictions. Essentially, BCDiff is an encoder-free framework that can be compatible with existing trajectory prediction models in principle. Experiments show that our proposed BCDiff significantly improves the accuracy of instantaneous trajectory prediction on the ETH/UCY and Stanford Drone datasets, compared to related approaches.

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ICRA Conference 2023 Conference Paper

GANet: Goal Area Network for Motion Forecasting

  • Mingkun Wang
  • Xinge Zhu
  • Changqian Yu
  • Wei Li 0111
  • Yuexin Ma
  • Ruochun Jin
  • Xiaoguang Ren
  • Dongchun Ren

Predicting the future motion of road participants is crucial for autonomous driving but is extremely challenging due to staggering motion uncertainty. Recently, most motion forecasting methods resort to the goal-based strategy, i. e. , predicting endpoints of motion trajectories as conditions to regress the entire trajectories, so that the search space of solution can be reduced. However, accurate goal coordinates are hard to predict and evaluate. In addition, the point representation of the destination limits the utilization of a rich road context, leading to inaccurate prediction results in many cases. Goal area, i. e. , the possible destination area, rather than goal coordinate, could provide a more soft constraint for searching potential trajectories by involving more tolerance and guidance. In view of this, we propose a new goal area-based framework, named Goal Area Network (GANet), for motion forecasting, which models goal areas as preconditions for trajectory prediction, performing more robustly and accurately. Specifically, we propose a GoICrop (Goal Area of Interest) operator to effectively aggregate semantic lane features in goal areas and model actors' future interactions as feedback, which benefits a lot for future trajectory estimations. GANet ranks the 1st on the leaderboard of Argoverse Challenge among all public literature (till the paper submission). Code will be available at https://github.com/kingwmk/GANet.

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TIST Journal 2021 Journal Article

Simultaneous Past and Current Social Interaction-aware Trajectory Prediction for Multiple Intelligent Agents in Dynamic Scenes

  • Yanliang Zhu
  • Dongchun Ren
  • Yi Xu
  • Deheng Qian
  • Mingyu Fan
  • Xin Li
  • Huaxia Xia

Trajectory prediction of multiple agents in a crowded scene is an essential component in many applications, including intelligent monitoring, autonomous robotics, and self-driving cars. Accurate agent trajectory prediction remains a significant challenge because of the complex dynamic interactions among the agents and between them and the surrounding scene. To address the challenge, we propose a decoupled attention-based spatial-temporal modeling strategy in the proposed trajectory prediction method. The past and current interactions among agents are dynamically and adaptively summarized by two separate attention-based networks and have proven powerful in improving the prediction accuracy. Moreover, it is optional in the proposed method to make use of the road map and the plan of the ego-agent for scene-compliant and accurate predictions. The road map feature is efficiently extracted by a convolutional neural network, and the features of the ego-agent’s plan is extracted by a gated recurrent network with an attention module based on the temporal characteristic. Experiments on benchmark trajectory prediction datasets demonstrate that the proposed method is effective when the ego-agent plan and the the surrounding scene information are provided and achieves state-of-the-art performance with only the observed trajectories.

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ICRA Conference 2021 Conference Paper

Star Topology based Interaction for Robust Trajectory Forecasting in Dynamic Scene

  • Yanliang Zhu
  • Dongchun Ren
  • Deheng Qian
  • Mingyu Fan
  • Xin Li
  • Huaxia Xia

Motion prediction of multiple agents in a dynamic scene is a crucial component in many real applications, including intelligent monitoring and autonomous driving. Due to the complex interactions among the agents and their interactions with the surrounding scene, accurate trajectory prediction is still a great challenge. In this paper, we propose a new method for robust trajectory prediction of multiple intelligent agents in a dynamic scene. The input of the method includes the observed trajectories of all agents, and optionally, the planning of the ego-agent and the surrounding high definition map at every time steps. Given observed trajectories, an efficient approach in a star computational topology is utilized to compute both the spatiotemporal interaction features and the current interaction features between the agents, where the time complexity scales linearly to the number of agents. Moreover, on an autonomous vehicle, the proposed prediction method can make use of the planning of ego-agent to improve the modeling of the interaction between surrounding agents. To increase the robustness to upstream perception noises, at the training stage, we randomly mask out the input data, a. k. a. the points on the observed trajectories of agents and the lane sequence. Experiments on autonomous driving and pedestrian-walking datasets demonstrate that the proposed method is not only effective when the planning of ego-agent and the high definition map are provided, but also achieves state-of-the-art performance with only the observed trajectories.

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AAAI Conference 2021 Conference Paper

Unsupervised Active Learning via Subspace Learning

  • Changsheng Li
  • Kaihang Mao
  • Lingyan Liang
  • Dongchun Ren
  • Wei Zhang
  • Ye Yuan
  • Guoren Wang

Unsupervised active learning has been an active research topic in machine learning community, with the purpose of choosing representative samples to be labelled in an unsupervised manner. Previous works usually take the minimization of data reconstruction loss as the criterion to select representative samples, by which the original inputs can be better approximated. However, data are often drawn from low-dimensional subspaces embedded in an arbitrary highdimensional space in many scenarios, thus it might severely bring in noise if attempting to precisely reconstruct all entries of one observation, leading to a suboptimal solution. In view of this, this paper proposes a novel unsupervised Active Learning model via Subspace Learning, called ALSL. In contrast to previous approaches, ALSL aims to discover low-rank structures of data, and then perform sample selection based on the learnt low-rank representations. To this end, we devise two different strategies and propose two corresponding formulations to select samples with and under low-rank sample representations, respectively. Since the proposed formulations involve several non-smooth regularization terms, we develop a simple but effective optimization procedure to solve them. Extensive experiments are performed on five publicly available datasets, and experimental results demonstrate the proposed first formulation achieves comparable performance with the state-of-the-arts, while the second formulation significantly outperforms them, achieving a 13% improvement over the second best baseline at most.

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IROS Conference 2019 Conference Paper

StarNet: Pedestrian Trajectory Prediction using Deep Neural Network in Star Topology

  • Yanliang Zhu
  • Deheng Qian
  • Dongchun Ren
  • Huaxia Xia

Pedestrian trajectory prediction is crucial for many important applications. This problem is a great challenge because of complicated interactions among pedestrians. Previous methods model only the pairwise interactions between pedestrians, which not only oversimplifies the interactions among pedestrians but also is computationally inefficient. In this paper, we propose a novel model StarNet to deal with these issues. StarNet has a star topology which includes a unique hub network and multiple host networks. The hub network takes observed trajectories of all pedestrians to produce a comprehensive description of the interpersonal interactions. Then the host networks, each of which corresponds to one pedestrian, consult the description and predict future trajectories. The star topology gives StarNet two advantages over conventional models. First, StarNet is able to consider the collective influence among all pedestrians in the hub network, making more accurate predictions. Second, StarNet is computationally efficient since the number of host network is linear to the number of pedestrians. Experiments on multiple public datasets demonstrate that StarNet outperforms multiple state-of-the-arts by a large margin in terms of both accuracy and efficiency.

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