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In real-world sequential decision making tasks like autonomous driving, robotics, and healthcare, learning from observed state-action trajectories is critical for tasks like imitation, classification, and clustering. For example,…

Making accurate motion prediction of surrounding agents such as pedestrians and vehicles is a critical task when robots are trying to perform autonomous navigation tasks. Recent research on multi-modal trajectory prediction, including…

Traffic forecasting is a challenging problem due to complex road networks and sudden speed changes caused by various events on roads. A number of models have been proposed to solve this challenging problem with a focus on learning…

Trajectory prediction is a critical functionality of autonomous systems that share environments with uncontrolled agents, one prominent example being self-driving vehicles. Currently, most prediction methods do not enforce scene…

A long-standing challenge in Reinforcement Learning is enabling agents to learn a model of their environment which can be transferred to solve other problems in a world with the same underlying rules. One reason this is difficult is the…

Human trajectory prediction has received increased attention lately due to its importance in applications such as autonomous vehicles and indoor robots. However, most existing methods make predictions based on human-labeled trajectories and…

With the advancement in computer vision deep learning, systems now are able to analyze an unprecedented amount of rich visual information from videos to enable applications such as autonomous driving, socially-aware robot assistant and…

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…

In this paper, we extend a framework that we developed earlier for coordination of connected and automated vehicles (CAVs) at a signal-free intersection to incorporate uncertainty. Using the possibly noisy observations of actual time…

Self-driving vehicles rely on sensory input to monitor their surroundings and continuously adapt to the most likely future road course. Predictive trajectory planning is based on snapshots of the (uncertain) road course as a key input.…

This report first provides a brief overview of a number of supervised learning algorithms for regression tasks. Among those are neural networks, regression trees, and the recently introduced Nexting. Nexting has been presented in the…

Multivariate time series forecasting focuses on predicting future values based on historical context. State-of-the-art sequence-to-sequence models rely on neural attention between timesteps, which allows for temporal learning but fails to…

Predicting future trajectories is critical in autonomous navigation, especially in preventing accidents involving humans, where a predictive agent's ability to anticipate in advance is of utmost importance. Trajectory forecasting models,…

Advances in learning-based trajectory prediction are enabled by large-scale datasets. However, in-depth analysis of such datasets is limited. Moreover, the evaluation of prediction models is limited to metrics averaged over all samples in…

To enhance the interpretability of Reinforcement Learning (RL), we propose Revealing Evolutionary Action Consequence Trajectories (REACT). In contrast to the prevalent practice of validating RL models based on their optimal behavior learned…

Most recent successes on forecasting the people motion are based on LSTM models and all most recent progress has been achieved by modelling the social interaction among people and the people interaction with the scene. We question the use…

Robot decision-making increasingly relies on data-driven human prediction models when operating around people. While these models are known to mispredict in out-of-distribution interactions, only a subset of prediction errors impact…

Understanding and forecasting future trajectories of agents are critical for behavior analysis, robot navigation, autonomous cars, and other related applications. Previous methods mostly treat trajectory prediction as time sequence…

Multi-agent interacting systems are prevalent in the world, from pure physical systems to complicated social dynamic systems. In many applications, effective understanding of the situation and accurate trajectory prediction of interactive…

Accurate pedestrian trajectory prediction is crucial for ensuring safety and efficiency in autonomous driving and human-robot interaction scenarios. Earlier studies primarily utilized sufficient observational data to predict future…