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Sampling-based methods are widely adopted solutions for robot motion planning. The methods are straightforward to implement, effective in practice for many robotic systems. It is often possible to prove that they have desirable properties,…

Dynamic scenes contain intricate spatio-temporal information, crucial for mobile robots, UAVs, and autonomous driving systems to make informed decisions. Parsing these scenes into semantic triplets <Subject-Predicate-Object> for accurate…

We propose a stochastic approximation (SA) based method with randomization of samples for policy evaluation using the least squares temporal difference (LSTD) algorithm. Our proposed scheme is equivalent to running regular temporal…

In this paper, we introduces a new type of line-shaped image representation, named semantic line segment (Sem-LS) and focus on solving its detection problem. Sem-LS contains high-level semantics and is a compact scene representation where…

Unsupervised skill discovery in reinforcement learning aims to intrinsically motivate agents to discover diverse and useful behaviours. However, unconstrained approaches can produce unsafe, unethical, or misaligned behaviours. To mitigate…

Autonomous vehicles require motion forecasting of their surrounding multiagents (pedestrians and vehicles) to make optimal decisions for navigation. The existing methods focus on techniques to utilize the positions and velocities of these…

We develop a human movement trajectory prediction system that incorporates the scene information (Scene-LSTM) as well as human movement trajectories (Pedestrian movement LSTM) in the prediction process within static crowded scenes. We…

Full integration of robots into real-life applications necessitates their ability to interpret and execute natural language directives from untrained users. Given the inherent variability in human language, equivalent directives may be…

We propose a novel Transformer-based architecture for the task of generative modelling of 3D human motion. Previous work commonly relies on RNN-based models considering shorter forecast horizons reaching a stationary and often implausible…

Denoising diffusion models have shown great promise in human motion synthesis conditioned on natural language descriptions. However, integrating spatial constraints, such as pre-defined motion trajectories and obstacles, remains a challenge…

Learning-to-defer is a framework to automatically defer decision-making to a human expert when ML-based decisions are deemed unreliable. Existing learning-to-defer frameworks are not designed for sequential settings. That is, they defer at…

Neural network (NN)-based methods have emerged as an attractive approach for robot motion planning due to strong learning capabilities of NN models and their inherently high parallelism. Despite the current development in this direction,…

Accurate video prediction by deep neural networks, especially for dynamic regions, is a challenging task in computer vision for critical applications such as autonomous driving, remote working, and telemedicine. Due to inherent…

We propose a new architecture for the learning of predictive spatio-temporal motion models from data alone. Our approach, dubbed the Dropout Autoencoder LSTM, is capable of synthesizing natural looking motion sequences over long time…

Semantic 2D maps are commonly used by humans and machines for navigation purposes, whether it's walking or driving. However, these maps have limitations: they lack detail, often contain inaccuracies, and are difficult to create and…

Current autonomous driving systems are composed of a perception system and a decision system. Both of them are divided into multiple subsystems built up with lots of human heuristics. An end-to-end approach might clean up the system and…

The efficient operation of modern cellular networks hinges on the accurate analysis of spatio-temporal traffic data. Mastering these patterns is essential for core network functions, chiefly forecasting future load to pre-empt congestion…

Detecting pedestrians accurately in urban scenes is significant for realistic applications like autonomous driving or video surveillance. However, confusing human-like objects often lead to wrong detections, and small scale or heavily…

Learning computational fluid dynamics (CFD) traditionally relies on computationally intensive simulations of the Navier-Stokes equations. Recently, large language models (LLMs) have shown remarkable pattern recognition and reasoning…

Vehicle trajectory prediction is crucial for autonomous driving and advanced driver assistant systems. While existing approaches may sample from a predicted distribution of vehicle trajectories, they lack the ability to explore it -- a key…