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In recent years, the joint detection-and-tracking paradigm has been a very popular way of tackling the multi-object tracking (MOT) task. Many of the methods following this paradigm use the object center keypoint for detection. However, we…
Temporal graphs represent interactions between entities over the time. These interactions may be direct (a contact between two nodes at some time instant), or indirect, through sequences of contacts called temporal paths (journeys).…
In this report, we present the 1st place solution for motion prediction track in 2022 Waymo Open Dataset Challenges. We propose a novel Motion Transformer framework for multimodal motion prediction, which introduces a small set of novel…
Most existing video moment retrieval methods rely on temporal sequences of frame- or clip-level features that primarily encode global visual and semantic information. However, such representations often fail to capture fine-grained object…
Acquiring 3D geometry of real world objects has various applications in 3D digitization, such as navigation and content generation in virtual environments. Image remains one of the most popular media for such visual tasks due to its…
In this paper we address the multi-agent collaborative object transportation problem in a partially known environment with obstacles under a specified goal condition. We propose a leader follower approach for two mobile manipulators…
A random sequence having two segments being the homogeneous Markov processes is registered. Each segment has his own transition probability law and the length of the segment is unknown and random. The transition probabilities of each…
Consider an agent acting to achieve its temporal goal, but with a "trembling hand". In this case, the agent may mistakenly instruct, with a certain (typically small) probability, actions that are not intended due to faults or imprecision in…
The problem of appropriately matching items subject to compatibility constraints arises in a number of important applications. While most of the literature on matching theory focuses on a static setting with a fixed number of items, several…
Logistics and transportation networks require a large amount of resources to realize necessary connections between locations and minimizing these resources is a vital aspect of planning research. Since such networks have dynamic connections…
This paper proposes an analytical framework for modelling resource contention in multi-robot systems, where the travel times and task durations are uncertain. It uses several approximation methods to quickly and accurately calculate the…
Localization and Mapping is an essential component to enable Autonomous Vehicles navigation, and requires an accuracy exceeding that of commercial GPS-based systems. Current odometry and mapping algorithms are able to provide this accurate…
During recent decades, there has been a substantial development in optimal mass transport theory and methods. In this work, we consider multi-marginal problems wherein only partial information of each marginal is available, which is a setup…
Due to the enormous variety of application scenarios and ubiquity,Internet of Things (IoT) brought a new perspective of applications for the current and future Internet. The Wireless Sensor Networks provide key devices for developing the…
This paper proposes a metric for sets of trajectories to evaluate multi-object tracking algorithms that includes time-weighted costs for localisation errors of properly detected targets, for false targets, missed targets and track switches.…
In this chapter, we propose a novel approach for solving the coordination of a fleet of mobile robots, which consists of finding a set of collision-free trajectories for individual robots in the fleet. This problem is studied for several…
We present a method to solve planning problems involving sequential decision making in unpredictable environments while accomplishing a high level task specification expressed using the formalism of linear temporal logic. Our method…
This paper introduces CARLA (spatially Constrained Anchor-based Recursive Location Assignment), a recursive algorithm for assigning secondary or any activity locations in activity-based travel models. CARLA minimizes distance deviations…
Recent research has emphasized the benefits of accurately reconstructing the initial Lagrangian positions of biased tracers from their positions at a later time, to gain cosmological information. A weighted semi-discrete optimal transport…
In the era of the proliferation of Geo-Spatial Data, induced by the diffusion of GPS devices, the map matching problem still represents an important and valuable challenge. The process of associating a segment of the underlying road network…