相关论文: Diverse Trajectory Forecasting with Determinantal …

Data-carving methods perform selective inference by conditioning the distribution of data on the observed selection event. However, existing data-carving approaches typically require an analytically tractable characterization of the…

We study a mini-batch diversification scheme for stochastic gradient descent (SGD). While classical SGD relies on uniformly sampling data points to form a mini-batch, we propose a non-uniform sampling scheme based on the Determinantal Point…

The goal of autonomous vehicles is to navigate public roads safely and comfortably. To enforce safety, traditional planning approaches rely on handcrafted rules to generate trajectories. Machine learning-based systems, on the other hand,…

Accurate and uncertainty-aware trajectory prediction remains a core challenge for autonomous driving, driven by complex multi-agent interactions, diverse scene contexts and the inherently stochastic nature of future motion. Diffusion-based…

Large deviation functions contain information on the stability and response of systems driven into nonequilibrium steady states, and in such a way are similar to free energies for systems at equilibrium. As with equilibrium free energies,…

Trajectory prediction is a fundamental and challenging task for numerous applications, such as autonomous driving and intelligent robots. Currently, most of existing work treat the pedestrian trajectory as a series of fixed two-dimensional…

The ability to accurately model random fields plays a critical role in science and engineering for problems involving uncertain, spatially-varying quantities such as heterogeneous material properties and turbulent flows. Deep generative…

To plan safe trajectories in urban environments, autonomous vehicles must be able to quickly assess the future intentions of dynamic agents. Pedestrians are particularly challenging to model, as their motion patterns are often uncertain…

The indeterminate nature of human motion requires trajectory prediction systems to use a probabilistic model to formulate the multi-modality phenomenon and infer a finite set of future trajectories. However, the inference processes of most…

Trajectory prediction and planning are essential for autonomous vehicles to navigate safely and efficiently in dynamic environments. Traditional approaches often treat them separately, limiting the ability for interactive planning. While…

This paper presents a novel probabilistic approach to deep robot learning from demonstrations (LfD). Deep movement primitives (DMPs) are deterministic LfD model that maps visual information directly into a robot trajectory. This paper…

We tackle the problem of trajectory planning in an environment comprised of a set of obstacles with uncertain time-varying locations. The uncertainties are modeled using widely accepted Gaussian distributions, resulting in a…

Urban environments pose a significant challenge for autonomous vehicles (AVs) as they must safely navigate while in close proximity to many pedestrians. It is crucial for the AV to correctly understand and predict the future trajectories of…

Diverse human motion prediction aims at predicting multiple possible future pose sequences from a sequence of observed poses. Previous approaches usually employ deep generative networks to model the conditional distribution of data, and…

Dimensionality reduction is a first step of many machine learning pipelines. Two popular approaches are principal component analysis, which projects onto a small number of well chosen but non-interpretable directions, and feature selection,…

In this paper, we present LookOut, a novel autonomy system that perceives the environment, predicts a diverse set of futures of how the scene might unroll and estimates the trajectory of the SDV by optimizing a set of contingency plans over…

Domain Generalized Semantic Segmentation (DGSS) is a critical yet challenging task, as domain shifts in unseen environments can severely compromise model performance. While recent studies enhance feature alignment by projecting features…

Continued great efforts have been dedicated towards high-quality trajectory generation based on optimization methods, however, most of them do not suitably and effectively consider the situation with moving obstacles; and more particularly,…

Understanding transition pathways between two meta-stable states of a molecular system is crucial to advance drug discovery and material design. However, unbiased molecular dynamics (MD) simulations are computationally infeasible because of…

Advancements in intelligent technologies have significantly improved navigation in complex traffic environments by enhancing environment perception and trajectory prediction for automated vehicles. However, current research often overlooks…