相关论文: DESIRE: Distant Future Prediction in Dynamic Scene…

Behavior prediction models have proliferated in recent years, especially in the popular real-world robotics application of autonomous driving, where representing the distribution over possible futures of moving agents is essential for safe…

A key challenge for autonomous driving is safe trajectory planning in cluttered, urban environments with dynamic obstacles, such as pedestrians, bicyclists, and other vehicles. A reliable prediction of the future environment, including the…

We address one of the crucial aspects necessary for safe and efficient operations of autonomous vehicles, namely predicting future state of traffic actors in the autonomous vehicle's surroundings. We introduce a deep learning-based approach…

We propose Int3DNet, a scene-aware network that predicts 3D intention areas directly from scene geometry and head-hand motion cues, enabling robust human intention prediction without explicit object-level perception. In Mixed Reality (MR),…

Image-based motion prediction is one of the essential techniques for robot manipulation. Among the various prediction models, we focus on diffusion models because they have achieved state-of-the-art performance in various applications. In…

Multi-agent motion prediction is challenging because it aims to foresee the future trajectories of multiple agents (\textit{e.g.} pedestrians) simultaneously in a complicated scene. Existing work addressed this challenge by either learning…

Multi-agent motion prediction is a crucial concern in autonomous driving, yet it remains a challenge owing to the ambiguous intentions of dynamic agents and their intricate interactions. Existing studies have attempted to capture…

This article presents a family of Stochastic Cartographic Occupancy Prediction Engines (SCOPEs) that enable mobile robots to predict the future states of complex dynamic environments. They do this by accounting for the motion of the robot…

Multi-agent trajectory prediction is a fundamental problem in autonomous driving. The key challenges in prediction are accurately anticipating the behavior of surrounding agents and understanding the scene context. To address these…

Humans and animals have a rich and flexible understanding of the physical world, which enables them to infer the underlying dynamical trajectories of objects and events, plausible future states, and use that to plan and anticipate the…

In this work, we aim to achieve efficient end-to-end learning of driving policies in dynamic multi-agent environments. Predicting and anticipating future events at the object level are critical for making informed driving decisions. We…

We present an approach to learn an object-centric forward model, and show that this allows us to plan for sequences of actions to achieve distant desired goals. We propose to model a scene as a collection of objects, each with an explicit…

In a given scenario, simultaneously and accurately predicting every possible interaction of traffic participants is an important capability for autonomous vehicles. The majority of current researches focused on the prediction of an single…

Predicting scene dynamics from visual observations is challenging. Existing methods capture dynamics only within observed boundaries failing to extrapolate far beyond the training sequence. Node-RF (Neural ODE-based NeRF) overcomes this…

For robots to be a part of our daily life, they need to be able to navigate among crowds not only safely but also in a socially compliant fashion. This is a challenging problem because humans tend to navigate by implicitly cooperating with…

This study presents a dynamic neural network model based on the predictive coding framework for perceiving and predicting the dynamic visuo-proprioceptive patterns. In our previous study [1], we have shown that the deep dynamic neural…

A multi-modal framework to generate user intention distributions when operating a mobile vehicle is proposed in this work. The model learns from past observed trajectories and leverages traversability information derived from the visual…

Trajectory prediction is an essential component in autonomous driving, particularly for collision avoidance systems. Considering the inherent uncertainty of the task, numerous studies have utilized generative models to produce multiple…

Safe navigation of autonomous agents in human centric environments requires the ability to understand and predict motion of neighboring pedestrians. However, predicting pedestrian intent is a complex problem. Pedestrian motion is governed…

Video prediction, forecasting the future frames from a sequence of input frames, is a challenging task since the view changes are influenced by various factors, such as the global context surrounding the scene and local motion dynamics. In…