相关论文: Discovering Heterogeneous Subsequences for Traject…

Precisely predicting the future trajectories of surrounding traffic participants is a crucial but challenging problem in autonomous driving, due to complex interactions between traffic agents, map context and traffic rules. Vector-based…

A model of rank polysemantic distribution with a minimal number of fitting parameters is offered. In an ideal case a parameter-free description of the dependence on the basis of one or several immediate features of the distribution is…

Predicting trajectories of pedestrians is quintessential for autonomous robots which share the same environment with humans. In order to effectively and safely interact with humans, trajectory prediction needs to be both precise and…

This paper presents a generalization of the trajectory general optimal sub-pattern assignment (GOSPA) metric for evaluating multi-object tracking algorithms that provide trajectory estimates with track-level uncertainties. This metric…

Recently, diffusion models have gained popularity and attention in trajectory optimization due to their capability of modeling multi-modal probability distributions. However, addressing nonlinear equality constraints, i.e, dynamic…

Latent variable models are an elegant framework for capturing rich probabilistic dependencies in many applications. However, current approaches typically parametrize these models using conditional probability tables, and learning relies…

This thesis investigates optimal trajectory tracking of nonlinear dynamical systems with affine controls. The control task is to enforce the system state to follow a prescribed desired trajectory as closely as possible. The concept of…

We consider a generic algorithmic paradigm that we call progressive exploration, which can be used to develop simple and efficient parameterized graph algorithms. We identify two model-theoretic properties that lead to efficient progressive…

Several model-based and model-free methods have been proposed for the robot trajectory learning task. Both approaches have their benefits and drawbacks. They can usually complement each other. Many research works are trying to integrate…

We propose a novel framework for enhancing robotic adaptability and learning efficiency, which integrates unsupervised trajectory segmentation with adaptive probabilistic movement primitives (ProMPs). By employing a cutting-edge deep…

In this paper, we propose a novel trajectory learning method that exploits motion trajectories on topological map using recurrent neural network for temporally consistent geolocalization of object. Inspired by human's ability to both be…

Any continuous curve in a higher dimensional space can be considered a trajectory that can be parameterized by a single variable, usually taken as time. It is well known that a continuous curve can have a fractional dimensionality, which…

This paper considers the problem of regression over distributions, which is becoming increasingly important in machine learning. Existing approaches often ignore the geometry of the probability space or are computationally expensive. To…

This paper proposes a new driving style recognition approach that allows autonomous vehicles (AVs) to perform trajectory predictions for surrounding vehicles with minimal data. Toward that end, we use a hybrid of offline and online methods…

Accurate prediction of surrounding road users' trajectories is essential for safe and efficient autonomous driving. While deep learning models have improved performance, challenges remain in preventing off-road predictions and ensuring…

Standard Model Predictive Control (MPC) or trajectory optimization approaches perform only a local search to solve a complex non-convex optimization problem. As a result, they cannot capture the multi-modal characteristic of human driving.…

In this paper, we propose a trajectory optimization for computing smooth collision free trajectories for nonholonomic curvature bounded vehicles among static and dynamic obstacles. One of the key novelties of our formulation is a hierarchal…

Efficient trajectory optimization is essential for avoiding collisions in unstructured environments, but it remains challenging to have both speed and quality in the solutions. One reason is that second-order optimality requires calculating…

The numerical approximation of partial differential equations (PDEs) poses formidable challenges in high dimensions since classical grid-based methods suffer from the so-called curse of dimensionality. Recent attempts rely on a combination…

As a typical dimensionality reduction technique, random projection can be simply implemented with linear projection, while maintaining the pairwise distances of high-dimensional data with high probability. Considering this technique is…