Joerg Reichardt
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View article: EP-Diffuser: An Efficient Diffusion Model for Traffic Scene Generation and Prediction via Polynomial Representations
EP-Diffuser: An Efficient Diffusion Model for Traffic Scene Generation and Prediction via Polynomial Representations Open
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-the-art (SotA) prediction models primarily focus on forecast…
View article: Reachability-Based Contingency Planning against Multi-Modal Predictions with Branch MPC
Reachability-Based Contingency Planning against Multi-Modal Predictions with Branch MPC Open
This paper presents a novel contingency planning framework that integrates learning-based multi-modal predictions of traffic participants into Branch Model Predictive Control (MPC). Leveraging reachability analysis, we address the computat…
View article: Beyond In-Distribution Performance: A Cross-Dataset Study of Trajectory Prediction Robustness
Beyond In-Distribution Performance: A Cross-Dataset Study of Trajectory Prediction Robustness Open
We study the Out-of-Distribution (OoD) generalization ability of three SotA trajectory prediction models with comparable In-Distribution (ID) performance but different model designs. We investigate the influence of inductive bias, size of …
View article: Improving Out-of-Distribution Generalization of Trajectory Prediction for Autonomous Driving via Polynomial Representations
Improving Out-of-Distribution Generalization of Trajectory Prediction for Autonomous Driving via Polynomial Representations Open
Robustness against Out-of-Distribution (OoD) samples is a key performance indicator of a trajectory prediction model. However, the development and ranking of state-of-the-art (SotA) models are driven by their In-Distribution (ID) performan…
View article: Motion Planning under Uncertainty: Integrating Learning-Based Multi-Modal Predictors into Branch Model Predictive Control
Motion Planning under Uncertainty: Integrating Learning-Based Multi-Modal Predictors into Branch Model Predictive Control Open
In complex traffic environments, autonomous vehicles face multi-modal uncertainty about other agents' future behavior. To address this, recent advancements in learningbased motion predictors output multi-modal predictions. We present our n…
View article: Learning-Aided Warmstart of Model Predictive Control in Uncertain Fast-Changing Traffic
Learning-Aided Warmstart of Model Predictive Control in Uncertain Fast-Changing Traffic Open
Model Predictive Control lacks the ability to escape local minima in nonconvex problems. Furthermore, in fast-changing, uncertain environments, the conventional warmstart, using the optimal trajectory from the last timestep, often falls sh…
View article: An Empirical Bayes Analysis of Object Trajectory Representation Models
An Empirical Bayes Analysis of Object Trajectory Representation Models Open
Linear trajectory models provide mathematical advantages to autonomous driving applications such as motion prediction. However, linear models' expressive power and bias for real-world trajectories have not been thoroughly analyzed. We pres…
View article: Further Validation of Measures of Target Detection and Stereotype Activation in the Stereotype Misperception Task
Further Validation of Measures of Target Detection and Stereotype Activation in the Stereotype Misperception Task Open
Previous research presented a multinomial model to estimate four latent processes (target detection, stereotype activation, stereotype application, guessing) that contribute to responses in the Stereotype Misperception Task, an indirect me…
View article: Further validation of Measures of Target Detection and Stereotype Activation in the Stereotype Misperception Task
Further validation of Measures of Target Detection and Stereotype Activation in the Stereotype Misperception Task Open
Previous research presented a multinomial model to estimate four latent processes (target detection, stereotype activation, stereotype application, guessing) that contribute to responses in the Stereotype Misperception Task, an indirect me…