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A team of multiple robots seamlessly and safely working in human-filled public environments requires adaptive task allocation and socially-aware navigation that account for dynamic human behavior. Current approaches struggle with highly…

Trajectory forecasting plays a pivotal role in the field of intelligent vehicles or social robots. Recent works focus on modeling spatial social impacts or temporal motion attentions, but neglect inherent properties of motions, i.e. moving…

Predicting the future behavior of moving agents is essential for real world applications. It is challenging as the intent of the agent and the corresponding behavior is unknown and intrinsically multimodal. Our key insight is that for…

In this work, we present a novel multi-modal multi-agent trajectory prediction architecture, focusing on map and interaction modeling using graph representation. For the purposes of map modeling, we capture rich topological structure into…

When autonomous vehicles still struggle to solve challenging situations during on-road driving, humans have long mastered the essence of driving with efficient transferable and adaptable driving capability. By mimicking humans' cognition…

With the advancements of sensor hardware, traffic infrastructure and deep learning architectures, trajectory prediction of vehicles has established a solid foundation in intelligent transportation systems. However, existing solutions are…

We present PAT, a transformer-based network that learns complex temporal co-occurrence action dependencies in a video by exploiting multi-scale temporal features. In existing methods, the self-attention mechanism in transformers loses the…

Predicting the future trajectories of multiple interacting agents in a scene has become an increasingly important problem for many different applications ranging from control of autonomous vehicles and social robots to security and…

Accurate motion prediction of pedestrians, cyclists, and other surrounding vehicles (all called agents) is very important for autonomous driving. Most existing works capture map information through an one-stage interaction with map by…

Social robot navigation in crowded public spaces such as university campuses, restaurants, grocery stores, and hospitals, is an increasingly important area of research. One of the core strategies for achieving this goal is to understand…

In the multiple unmanned aerial vehicle (UAV)- assisted downlink communication, it is challenging for UAV base stations (UAV BSs) to realize trajectory design and resource assignment in unknown environments. The cooperation and competition…

In autonomous driving, accurately interpreting the movements of other road users and leveraging this knowledge to forecast future trajectories is crucial. This is typically achieved through the integration of map data and tracked…

Autonomous vehicles are expected to drive in complex scenarios with several independent non cooperating agents. Path planning for safely navigating in such environments can not just rely on perceiving present location and motion of other…

Modeling the interactions among agents for trajectory prediction of autonomous driving has been challenging due to the inherent uncertainty in agents' behavior. The interactions involved in the predicted trajectories of agents, also called…

Robotics has long been a field riddled with complex systems architectures whose modules and connections, whether traditional or learning-based, require significant human expertise and prior knowledge. Inspired by large pre-trained language…

The cooperative Multi-A gent R einforcement Learning (MARL) with permutation invariant agents framework has achieved tremendous empirical successes in real-world applications. Unfortunately, the theoretical understanding of this MARL…

Accurate multi-vehicle trajectory prediction in expressway merge and diverge areas is fundamental to the decision-making frameworks of autonomous vehicle systems. However, the majority of existing graph-based prediction models are developed…

Traffic signal control is a critical challenge in urban transportation, requiring coordination among multiple intersections to optimize network-wide traffic flow. While reinforcement learning has shown promise for adaptive signal control,…

Predicting the possible future trajectories of the surrounding dynamic agents is an essential requirement in autonomous driving. These trajectories mainly depend on the surrounding static environment, as well as the past movements of those…

Reliable and efficient trajectory optimization methods are a fundamental need for autonomous dynamical systems, effectively enabling applications including rocket landing, hypersonic reentry, spacecraft rendezvous, and docking. Within such…