相关论文: Scene Induced Multi-Modal Trajectory Forecasting v…

Multi-agent systems are prevalent in a wide range of domains including power systems, vehicular networks, and robotics. Two important problems to solve in these types of systems are how the intentions of non-coordinating agents can be…

The feasibility of collecting a large amount of expert demonstrations has inspired growing research interests in learning-to-drive settings, where models learn by imitating the driving behaviour from experts. However, exclusively relying on…

Human trajectory forecasting is a key component of autonomous vehicles, social-aware robots and advanced video-surveillance applications. This challenging task typically requires knowledge about past motion, the environment and likely…

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…

We propose advances that address two key challenges in future trajectory prediction: (i) multimodality in both training data and predictions and (ii) constant time inference regardless of number of agents. Existing trajectory predictions…

Predicting the trajectories of surrounding agents is still considered one of the most challenging tasks for autonomous driving. In this paper, we introduce a multi-modal trajectory prediction framework based on the transformer network. The…

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…

In this paper, we address the problem of predicting the future motion of a dynamic agent (called a target agent) given its current and past states as well as the information on its environment. It is paramount to develop a prediction model…

Learned dynamics models combined with both planning and policy learning algorithms have shown promise in enabling artificial agents to learn to perform many diverse tasks with limited supervision. However, one of the fundamental challenges…

Motion forecasting is a key module in an autonomous driving system. Due to the heterogeneous nature of multi-sourced input, multimodality in agent behavior, and low latency required by onboard deployment, this task is notoriously…

For autonomous vehicles (AVs) to behave appropriately on roads populated by human-driven vehicles, they must be able to reason about the uncertain intentions and decisions of other drivers from rich perceptual information. Towards these…

Giving autonomous agents the ability to forecast their own outcomes and uncertainty will allow them to communicate their competencies and be used more safely. We accomplish this by using a learned world model of the agent system to forecast…

The ability to predict the future trajectories of traffic participants is crucial for the safe and efficient operation of autonomous vehicles. In this paper, a diffusion-based generative model for multi-agent trajectory prediction is…

Predicting the possible future trajectories of the surrounding dynamic agents is an essential requirement in autonomous driving. These trajectories mainly depend on the surrounding static environment, as well as the past movements of those…

In this paper a deep reinforcement based multi-agent path planning approach is introduced. The experiments are realized in a simulation environment and in this environment different multi-agent path planning problems are produced. The…

We present a target-driven navigation system to improve mapless visual navigation in indoor scenes. Our method takes a multi-view observation of a robot and a target as inputs at each time step to provide a sequence of actions that move the…

For autonomous agents to successfully operate in real world, the ability to anticipate future motions of surrounding entities in the scene can greatly enhance their safety levels since potentially dangerous situations could be avoided in…

We propose to predict the future trajectories of observed agents (e.g., pedestrians or vehicles) by estimating and using their goals at multiple time scales. We argue that the goal of a moving agent may change over time, and modeling goals…

We introduce the first learning-based reconstructability predictor to improve view and path planning for large-scale 3D urban scene acquisition using unmanned drones. In contrast to previous heuristic approaches, our method learns a model…

Self-driving vehicles rely on multimodal motion forecasts to effectively interact with their environment and plan safe maneuvers. We introduce SceneMotion, an attention-based model for forecasting scene-wide motion modes of multiple traffic…