相关论文: Diverse Trajectory Forecasting with Determinantal …

Prior arts in the field of motion predictions for autonomous driving tend to focus on finding a trajectory that is close to the ground truth trajectory. Such problem formulations and approaches, however, frequently lead to loss of diversity…

Efficient and accurate motion prediction is crucial for ensuring safety and informed decision-making in autonomous driving, particularly under dynamic real-world conditions that necessitate multi-modal forecasts. We introduce TrajFlow, a…

Imitation learning is an intuitive approach for teaching motion to robotic systems. Although previous studies have proposed various methods to model demonstrated movement primitives, one of the limitations of existing methods is that the…

Capabilities of inference and prediction are significant components of visual systems. In this paper, we address an important and challenging task of them: visual path prediction. Its goal is to infer the future path for a visual object in…

Predicting future behavior of other traffic participants is an essential task that needs to be solved by automated vehicles and human drivers alike to achieve safe and situationaware driving. Modern approaches to vehicles trajectory…

Driving risk assessment is crucial for both autonomous vehicles and human-driven vehicles. The driving risk can be quantified as the product of the probability that an event (such as collision) will occur and the consequence of that event.…

Traffic flow characteristics are one of the most critical decision-making and traffic policing factors in a region. Awareness of the predicted status of the traffic flow has prime importance in traffic management and traffic information…

Deterministic flow models, such as rectified flows, offer a general framework for learning a deterministic transport map between two distributions, realized as the vector field for an ordinary differential equation (ODE). However, they are…

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…

Determinantal point processes (DPPs) offer an elegant tool for encoding probabilities over subsets of a ground set. Discrete DPPs are parametrized by a positive semidefinite matrix (called the DPP kernel), and estimating this kernel is key…

Long-term human trajectory prediction is a challenging yet critical task in robotics and autonomous systems. Prior work that studied how to predict accurate short-term human trajectories with only unimodal features often failed in long-term…

Diffusion processes are a class of stochastic differential equations (SDEs) providing a rich family of expressive models that arise naturally in dynamic modelling tasks. Probabilistic inference and learning under generative models with…

We all depend on mobility, and vehicular transportation affects the daily lives of most of us. Thus, the ability to forecast the state of traffic in a road network is an important functionality and a challenging task. Traffic data is often…

Data collection and labeling is one of the main challenges in employing machine learning algorithms in a variety of real-world applications with limited data. While active learning methods attempt to tackle this issue by labeling only the…

Determinantal Point Processes (DPPs) provide an elegant and versatile way to sample sets of items that balance the point-wise quality with the set-wise diversity of selected items. For this reason, they have gained prominence in many…

Statistical models and methods for determinantal point processes (DPPs) seem largely unexplored. We demonstrate that DPPs provide useful models for the description of spatial point pattern datasets where nearby points repel each other. Such…

Predicting how a dynamical unit evolves over time - how an individual ages, an epidemic spreads, or a physical system degrades - typically requires dense longitudinal tracking. When only extremely sparse or entirely cross-sectional data is…

Accurate trajectory prediction is vital for autonomous driving, robotics, and intelligent decision-making systems, yet traditional models typically rely on fixed-length output predictions, limiting their adaptability to dynamic real-world…

Obstacle avoidance of quadrotors in dynamic environments is still a very open problem. Current works commonly leverage traditional static maps to represent static obstacles and the detection and tracking of moving objects (DATMO) method to…

Future trajectories play an important role across domains such as autonomous driving, hurricane forecasting, and epidemic modeling, where practitioners commonly generate ensemble paths by sampling probabilistic models or leveraging multiple…