Result HiVT (baseline 3)

😂: agent cannot reflect other agent’s intend, and intersection traffic light timing

😀: if green light have much time, agent have to stop.

😀: if other agent has intend to turn right, target have to stop…

😀: agent can turn right properly

• v2x-seq-tfd is not released whole data, but only in mainland China.

Transition Trend of Traffic Signals

many paper use this formulation, modeling the traffic signal.

• V2X-Rect encode the traffic signal trends, and filter the core interaction agent.