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

Exploration is a fundamental aspect of reinforcement learning (RL), and its effectiveness is a deciding factor in the performance of RL algorithms, especially when facing sparse extrinsic rewards. Recent studies have shown the effectiveness…

Historical user-item interaction datasets are essential in training modern recommender systems for predicting user preferences. However, the arbitrary user behaviors in most recommendation scenarios lead to a large volume of noisy data…

Human movement is goal-directed and influenced by the spatial layout of the objects in the scene. To plan future human motion, it is crucial to perceive the environment -- imagine how hard it is to navigate a new room with lights off.…

Developing deep neural networks to generate 3D scenes is a fundamental problem in neural synthesis with immediate applications in architectural CAD, computer graphics, as well as in generating virtual robot training environments. This task…

In this paper, we tackle the problem of detecting objects in 3D and forecasting their future motion in the context of self-driving. Towards this goal, we design a novel approach that explicitly takes into account the interactions between…

We present an approach for recognizing all objects in a scene and estimating their full pose from an accurate 3D instance-aware semantic reconstruction using an RGB-D camera. Our framework couples convolutional neural networks (CNNs) and a…

Classic reinforcement learning (RL) frequently confronts challenges in tasks involving delays, which cause a mismatch between received observations and subsequent actions, thereby deviating from the Markov assumption. Existing methods…

Given two consecutive RGB-D images, we propose a model that estimates a dense 3D motion field, also known as scene flow. We take advantage of the fact that in robot manipulation scenarios, scenes often consist of a set of rigidly moving…

Session-based recommender systems have attracted much attention recently. To capture the sequential dependencies, existing methods resort either to data augmentation techniques or left-to-right style autoregressive training.Since these…

Forecasting the future behaviors of dynamic actors is an important task in many robotics applications such as self-driving. It is extremely challenging as actors have latent intentions and their trajectories are governed by complex…

Realistic driving simulation requires that NPCs not only mimic natural driving behaviors but also react to the behavior of other simulated agents. Recent developments in diffusion-based scenario generation focus on creating diverse and…

Planning has been very successful for control tasks with known environment dynamics. To leverage planning in unknown environments, the agent needs to learn the dynamics from interactions with the world. However, learning dynamics models…

Learning models of dynamical systems with external inputs, which may be, for example, nonsmooth or piecewise, is crucial for studying complex phenomena and predicting future state evolution, which is essential for applications such as…

This paper proposes an algorithm for motion planning among dynamic agents using adaptive conformal prediction. We consider a deterministic control system and use trajectory predictors to predict the dynamic agents' future motion, which is…

Despite enormous progress in object detection and classification, the problem of incorporating expected contextual relationships among object instances into modern recognition systems remains a key challenge. In this work we propose…

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…

Trajectory prediction is critical for applications of planning safe future movements and remains challenging even for the next few seconds in urban mixed traffic. How an agent moves is affected by the various behaviors of its neighboring…

Robotic navigation through crowds or herds requires the ability to both predict the future motion of nearby individuals and understand how these predictions might change in response to a robot's future action. State of the art trajectory…

Integrating trajectory prediction to the decision-making and planning modules of modular autonomous driving systems is expected to improve the safety and efficiency of self-driving vehicles. However, a vehicle's future trajectory prediction…

While deep neural networks have led to human-level performance on computer vision tasks, they have yet to demonstrate similar gains for holistic scene understanding. In particular, 3D context has been shown to be an extremely important cue…