相关论文: Motion Prediction Under Multimodality with Conditi…

Context plays a significant role in the generation of motion for dynamic agents in interactive environments. This work proposes a modular method that utilises a learned model of the environment for motion prediction. This modularity…

Many time series are effectively generated by a combination of deterministic continuous flows along with discrete jumps sparked by stochastic events. However, we usually do not have the equation of motion describing the flows, or how they…

Autonomous systems not only need to understand their current environment, but should also be able to predict future actions conditioned on past states, for instance based on captured camera frames. However, existing models mainly focus on…

We explore generalizations of some integrated learning and optimization frameworks for data-driven contextual stochastic optimization that can adapt to heteroscedasticity. We identify conditions on the stochastic program, data generation…

Predicting future frames of video sequences is challenging due to the complex and stochastic nature of the problem. Video prediction methods based on variational auto-encoders (VAEs) have been a great success, but they require the training…

Many structured prediction tasks in machine vision have a collection of acceptable answers, instead of one definitive ground truth answer. Segmentation of images, for example, is subject to human labeling bias. Similarly, there are multiple…

Recent innovations in diffusion probabilistic models have paved the way for significant progress in image, text and audio generation, leading to their applications in generative time series forecasting. However, leveraging such abilities to…

This paper considers the problem of multi-modal future trajectory forecast with ranking. Here, multi-modality and ranking refer to the multiple plausible path predictions and the confidence in those predictions, respectively. We propose…

During the last few years, significant attention has been paid to the stochastic training of artificial neural networks, which is known as an effective regularization approach that helps improve the generalization capability of trained…

We introduce temporal multimodal multivariate learning, a new family of decision making models that can indirectly learn and transfer online information from simultaneous observations of a probability distribution with more than one peak or…

This paper presents a novel vehicle motion forecasting method based on multi-head attention. It produces joint forecasts for all vehicles on a road scene as sequences of multi-modal probability density functions of their positions. Its…

In this paper we study how to learn stochastic, multimodal transition dynamics in reinforcement learning (RL) tasks. We focus on evaluating transition function estimation, while we defer planning over this model to future work.…

Stochastic optimisation algorithms are the de facto standard for machine learning with large amounts of data. Handling only a subset of available data in each optimisation step dramatically reduces the per-iteration computational costs,…

The field of collaborative robotics and human-robot interaction often focuses on the prediction of human behaviour, while assuming the information about the robot setup and configuration being known. This is often the case with fixed…

This paper aims to deal with the ignored real-world complexities in prior work on human motion forecasting, emphasizing the social properties of multi-person motion, the diversity of motion and social interactions, and the complexity of…

In this paper, we develop a neural network model to predict future human motion from an observed human motion history. We propose a non-autoregressive transformer architecture to leverage its parallel nature for easier training and fast,…

The problem of predicting human motion given a sequence of past observations is at the core of many applications in robotics and computer vision. Current state-of-the-art formulate this problem as a sequence-to-sequence task, in which a…

Recent advances in deep learning have significantly improved performance of video prediction. However, state-of-the-art methods still suffer from blurriness and distortions in their future predictions, especially when there are large…

Human motion prediction is an essential component for enabling closer human-robot collaboration. The task of accurately predicting human motion is non-trivial. It is compounded by the variability of human motion, both at a skeletal level…

Learning with neural networks from a continuous stream of visual information presents several challenges due to the non-i.i.d. nature of the data. However, it also offers novel opportunities to develop representations that are consistent…