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Predicting future trajectories of surrounding vehicles heavily relies on what contextual information is given to a motion prediction model. The context itself can be static (lanes, regulatory elements, etc) or dynamic (traffic…

Adaptively forecasting human behavior in social settings is an important step toward achieving Artificial General Intelligence. Most existing research in social forecasting has focused either on unfocused interactions, such as pedestrian…

It is not until recently that graph neural networks (GNNs) are adopted to perform graph representation learning, among which, those based on the aggregation of features within the neighborhood of a node achieved great success. However,…

Reliable anticipation of pedestrian trajectory is imperative for the operation of autonomous vehicles and can significantly enhance the functionality of advanced driver assistance systems. While significant progress has been made in the…

Behavior prediction of traffic actors is an essential component of any real-world self-driving system. Actors' long-term behaviors tend to be governed by their interactions with other actors or traffic elements (traffic lights, stop signs)…

Human actions comprise of joint motion of articulated body parts or `gestures'. Human skeleton is intuitively represented as a sparse graph with joints as nodes and natural connections between them as edges. Graph convolutional networks…

In mixed traffic scenarios, a certain number of pedestrians might coexist in a small area while interacting with vehicles. In this situation, every pedestrian must simultaneously react to the surrounding pedestrians and vehicles. Analytical…

Anticipating human actions in front of autonomous vehicles is a challenging task. Several papers have recently proposed model architectures to address this problem by combining multiple input features to predict pedestrian crossing actions.…

Accurate human trajectory prediction is one of the most crucial tasks for autonomous driving, ensuring its safety. Yet, existing models often fail to fully leverage the visual cues that humans subconsciously communicate when navigating the…

Predicting the future paths of an agent's neighbors accurately and in a timely manner is central to the autonomous applications for collision avoidance. Conventional approaches, e.g., LSTM-based models, take considerable computational costs…

As more and more robots are envisioned to cooperate with humans sharing the same space, it is desired for robots to be able to predict others' trajectories to navigate in a safe and self-explanatory way. We propose a Convolutional Neural…

Joint pedestrian trajectory prediction has long grappled with the inherent unpredictability of human behaviors. Recent investigations employing variants of conditional diffusion models in trajectory prediction have exhibited notable…

Human knowledge is largely implicit and relational -- do we have a friend in common? can I walk from here to there? In this work, we leverage the combinatorial structure of graphs to quantify human priors over such relational data. Our…

By interpreting a traffic scene as a graph of interacting vehicles, we gain a flexible abstract representation which allows us to apply Graph Neural Network (GNN) models for traffic prediction. These naturally take interaction between…

Critical for the coexistence of humans and robots in dynamic environments is the capability for agents to understand each other's actions, and anticipate their movements. This paper presents Stochastic Process Anticipatory Navigation…

Forecasting pedestrian trajectories in dynamic scenes remains a critical problem in various applications, such as autonomous driving and socially aware robots. Such forecasting is challenging due to human-human and human-object interactions…

The multi-modality and stochastic characteristics of human behavior make motion prediction a highly challenging task, which is critical for autonomous driving. While deep learning approaches have demonstrated their great potential in this…

Predicting epidemic dynamics is of great value in understanding and controlling diffusion processes, such as infectious disease spread and information propagation. This task is intractable, especially when surveillance resources are very…

Seamlessly operating an autonomous vehicle in a crowded pedestrian environment is a very challenging task. This is because human movement and interactions are very hard to predict in such environments. Recent work has demonstrated that…

We propose a novel solution for predicting future trajectories of pedestrians. Our method uses a multimodal encoder-decoder transformer architecture, which takes as input both pedestrian locations and ego-vehicle speeds. Notably, our…