HetroD: A High-Fidelity Drone Dataset and Benchmark for Autonomous Driving in Heterogeneous Traffic

Description

We present HetroD, a dataset and benchmark for developing autonomous driving systems in heterogeneous environments. HetroD targets the critical challenge of navi- gating real-world heterogeneous traffic dominated by vulner- able road users (VRUs), including pedestrians, cyclists, and motorcyclists that interact with vehicles. These mixed agent types exhibit complex behaviors such as hook turns, lane splitting, and informal right-of-way negotiation. Such behaviors pose significant challenges for

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