Top-down Traffic Scenario Generation via Joint Initial-Goal Diffusion and Trajectory Infilling

Da Saem Lee , Yash Vardhan Pant, Sebastian Fischmeister
University of Waterloo
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High-level Traffic Scenario Generation

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High-level Traffic Scenario Generation Process.
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Generated High-level Traffic Scenario. Each column uses the same map but displays different generated initial and goal states.

Trajectory Infilling

Teaser Result Teaser Result
Teaser Result Teaser Result
Teaser Result Teaser Result
Infilled trajectories between given high-level scenarios.