相关论文: Relational Graph Learning for Crowd Navigation

Relational machine learning studies methods for the statistical analysis of relational, or graph-structured, data. In this paper, we provide a review of how such statistical models can be "trained" on large knowledge graphs, and then used…

Since the past few decades, human trajectory forecasting has been a field of active research owing to its numerous real-world applications: evacuation situation analysis, deployment of intelligent transport systems, traffic operations, to…

This paper proposes an end-to-end deep reinforcement learning approach for mobile robot navigation with dynamic obstacles avoidance. Using experience collected in a simulation environment, a convolutional neural network (CNN) is trained to…

To achieve seamless human-robot interactions, robots need to intimately reason about complex interaction dynamics and future human behaviors within their motion planning process. However, there is a disconnect between state-of-the-art…

Passenger behavior prediction aims to track passenger travel patterns through historical boarding and alighting data, enabling the analysis of urban station passenger flow and timely risk management. This is crucial for smart city…

This paper addresses navigation in crowded environments by integrating goal-conditioned generative models with Sampling-based Model Predictive Control (SMPC). We introduce goal-conditioned autoregressive models to generate crowd behaviors,…

Social interaction is an important topic in human trajectory prediction to generate plausible paths. In this paper, we present a novel insight of group-based social interaction model to explore relationships among pedestrians. We…

Behavior prediction of traffic actors is an essential component of any real-world self-driving system. Actors' long-term behaviors tend to be governed by their interactions with other actors or traffic elements (traffic lights, stop signs)…

This work proposes a neural network architecture that learns policies for multiple agent classes in a heterogeneous multi-agent reinforcement setting. The proposed network uses directed labeled graph representations for states, encodes…

A key aspect of driving a road vehicle is to interact with other road users, assess their intentions and make risk-aware tactical decisions. An intuitive approach to enabling an intelligent automated driving system would be incorporating…

Group activities usually involve spatiotemporal dynamics among many interactive individuals, while only a few participants at several key frames essentially define the activity. Therefore, effectively modeling the group-relevant and…

Effective communication is key to successful, decentralized, multi-robot path planning. Yet, it is far from obvious what information is crucial to the task at hand, and how and when it must be shared among robots. To side-step these issues…

If a robot can predict crowds in parts of its environment that are inaccessible to its sensors, then it can plan to avoid them. This paper proposes a fast, online algorithm that learns average crowd densities in different areas. It also…

Autonomous vehicle navigation in shared pedestrian environments requires the ability to predict future crowd motion both accurately and with minimal delay. Understanding the uncertainty of the prediction is also crucial. Most existing…

Anticipating human motion in crowded scenarios is essential for developing intelligent transportation systems, social-aware robots and advanced video surveillance applications. A key component of this task is represented by the inherently…

Deep reinforcement learning (DRL) methods have demonstrated potential for autonomous navigation and obstacle avoidance of unmanned ground vehicles (UGVs) in crowded environments. Most existing approaches rely on single-frame observation and…

Mobile robot navigation has seen extensive research in the last decades. The aspect of collaboration with robots and humans sharing workspaces will become increasingly important in the future. Therefore, the next generation of mobile robots…

In this paper, we develop a control framework for the coordination of multiple robots as they navigate through crowded environments. Our framework comprises of a local model predictive control (MPC) for each robot and a social long…

Technologies to predict human actions are extremely important for applications such as human robot cooperation and autonomous driving. However, a majority of the existing algorithms focus on exploiting visual features of the videos and do…

Human motion prediction, i.e., forecasting future body poses given observed pose sequence, has typically been tackled with recurrent neural networks (RNNs). However, as evidenced by prior work, the resulted RNN models suffer from prediction…