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Prediction of human motions is key for safe navigation of autonomous robots among humans. In cluttered environments, several motion hypotheses may exist for a pedestrian, due to its interactions with the environment and other pedestrians.…

The ability to predict the future trajectories of traffic participants is crucial for the safe and efficient operation of autonomous vehicles. In this paper, a diffusion-based generative model for multi-agent trajectory prediction is…

The trajectory prediction is significant for the decision-making of autonomous driving vehicles. In this paper, we propose a model to predict the trajectories of target agents around an autonomous vehicle. The main idea of our method is…

Understanding the interaction between multiple agents is crucial for realistic vehicle trajectory prediction. Existing methods have attempted to infer the interaction from the observed past trajectories of agents using pooling, attention,…

This work addresses the problem of predicting the motion trajectories of dynamic objects in the environment. Recent advances in predicting motion patterns often rely on machine learning techniques to extrapolate motion patterns from…

Trajectory forecasting has become a popular deep learning task due to its relevance for scenario simulation for autonomous driving. Specifically, trajectory forecasting predicts the trajectory of a short-horizon future for specific human…

The inherently diverse and uncertain nature of trajectories presents a formidable challenge in accurately modeling them. Motion prediction systems must effectively learn spatial and temporal information from the past to forecast the future…

Researchers in explainable artificial intelligence have developed numerous methods for helping users understand the predictions of complex supervised learning models. By contrast, explaining the $\textit{uncertainty}$ of model outputs has…

Shapley value has recently become a popular way to explain the predictions of complex and simple machine learning models. This paper is discusses the factors that influence Shapley value. In particular, we explore the relationship between…

Trajectory prediction is an essential step in the pipeline of an autonomous vehicle. Inaccurate or inconsistent predictions regarding the movement of agents in its surroundings lead to poorly planned maneuvers and potentially dangerous…

Automated vehicles are envisioned to navigate safely in complex mixed-traffic scenarios alongside human-driven vehicles. To promise a high degree of safety, accurately predicting the maneuvers of surrounding vehicles and their future…

To accurately predict trajectories in multi-agent settings, e.g. team games, it is important to effectively model the interactions among agents. Whereas a number of methods have been developed for this purpose, existing methods implicitly…

Feature attributions based on the Shapley value are popular for explaining machine learning models; however, their estimation is complex from both a theoretical and computational standpoint. We disentangle this complexity into two factors:…

Feature attribution methods help make machine learning-based inference explainable by determining how much one or several features have contributed to a model's output. A particularly popular attribution method is based on the Shapley value…

Predicting the trajectories of surrounding agents is an essential ability for autonomous vehicles navigating through complex traffic scenes. The future trajectories of agents can be inferred using two important cues: the locations and past…

We introduce a variable importance measure to quantify the impact of individual input variables to a black box function. Our measure is based on the Shapley value from cooperative game theory. Many measures of variable importance operate by…

Shapley value is a classic notion from game theory, historically used to quantify the contributions of individuals within groups, and more recently applied to assign values to data points when training machine learning models. Despite its…

Pedestrian trajectory forecasting is a fundamental task in multiple utility areas, such as self-driving, autonomous robots, and surveillance systems. The future trajectory forecasting is multi-modal, influenced by physical interaction with…

Multi-agent trajectory forecasting in autonomous driving requires an agent to accurately anticipate the behaviors of the surrounding vehicles and pedestrians, for safe and reliable decision-making. Due to partial observability in these…

Trajectory prediction is a fundamental and challenging task for numerous applications, such as autonomous driving and intelligent robots. Currently, most of existing work treat the pedestrian trajectory as a series of fixed two-dimensional…