Create README.md

README.md

@@ -0,0 +1,33 @@
+---
+license: mit
+tags:
+- robotics
+- autonomous-vehicles
+- trajectory-prediction
+- time-series
+---
+
+# autonomous_vehicle_trajectory_transformer
+
+## Overview
+This model is a sequence-to-sequence Transformer designed to predict the future paths of road agents (vehicles, cyclists, and pedestrians). It processes historical multi-sensor fusion logs to generate multi-modal trajectory predictions, allowing autonomous systems to make safer motion planning decisions in complex urban environments.
+
+
+
+## Model Architecture
+The architecture consists of a **Temporal-Spatial Transformer** encoder-decoder.
+- **Input**: A 2-second history of coordinates, velocities, and headings ($x, y, v, \theta$).
+- **Encoder**: Captures temporal dependencies and social interactions between multiple agents using self-attention.
+- **Decoder**: Employs query-based decoding to produce the next 5 seconds of coordinates at 10Hz.
+- **Optimization**: Minimized using the Average Displacement Error (ADE) and Final Displacement Error (FDE):
+$$ADE = \frac{1}{T} \sum_{t=1}^{T} \sqrt{(\hat{x}_t - x_t)^2 + (\hat{y}_t - y_t)^2}$$
+
+## Intended Use
+- **Collision Avoidance**: Providing high-fidelity "what-if" scenarios for reactive braking and steering systems.
+- **Behavior Prediction**: Classifying agent intent (e.g., lane change vs. straight driving) based on trajectory curvature.
+- **Simulation**: Generating realistic agent movements for virtual testing of self-driving software stacks.
+
+## Limitations
+- **Occlusions**: If an agent is hidden from sensors for more than 500ms, the model's uncertainty increases drastically.
+- **Unseen Environments**: Performance may degrade in regions with traffic rules significantly different from the training data (e.g., changing from right-hand to left-hand traffic).
+- **Physical Constraints**: Without a post-processing kinematic filter, the model might occasionally predict physically impossible movements (e.g., instantaneous 90-degree turns at high speed).