相关论文: TPPO: A Novel Trajectory Predictor with Pseudo Ora…

Pedestrian trajectory prediction plays a pivotal role in ensuring the safety and efficiency of various applications, including autonomous vehicles and traffic management systems. This paper proposes a novel method for pedestrian trajectory…

Predicting pedestrian motion is essential for developing socially-aware robots that interact in a crowded environment. While the natural visual perspective for a social interaction setting is an egocentric view, the majority of existing…

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…

Expressive generative models have advanced robotic manipulation by capturing complex, multi-modal action distributions over temporally extended trajectories. However, fine-tuning these policies via RL remains challenging due to instability…

We introduce RMP-YOLO, a unified framework designed to provide robust motion predictions even with incomplete input data. Our key insight stems from the observation that complete and reliable historical trajectory data plays a pivotal role…

The prediction of humans' short-term trajectories has advanced significantly with the use of powerful sequential modeling and rich environment feature extraction. However, long-term prediction is still a major challenge for the current…

Forecasting multi-step user behavior trajectories requires reasoning over structured preferences across future actions, a challenge overlooked by traditional sequential recommendation. This problem is critical for applications such as…

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…

Leveraging vast amounts of unlabeled internet video data for embodied AI is currently bottlenecked by the lack of action labels and the presence of action-correlated visual distractors. Although recent latent action policy optimization…

Data driven methods for time series forecasting that quantify uncertainty open new important possibilities for robot tasks with hard real time constraints, allowing the robot system to make decisions that trade off between reaction time and…

Trajectory prediction is an essential task for successful human robot interaction, such as in autonomous driving. In this work, we address the problem of predicting future pedestrian trajectories in a first person view setting with a moving…

Parameterized movement primitives have been extensively used for imitation learning of robotic tasks. However, the high-dimensionality of the parameter space hinders the improvement of such primitives in the reinforcement learning (RL)…

Collision-free mobile robot navigation is an important problem for many robotics applications, especially in cluttered environments. In such environments, obstacles can be static or dynamic. Dynamic obstacles can additionally be…

We consider the offline imitation learning from observations (LfO) where the expert demonstrations are scarce and the available offline suboptimal data are far from the expert behavior. Many existing distribution-matching approaches…

Pedestrian trajectory prediction is an essential and challenging task for a variety of real-life applications such as autonomous driving and robotic motion planning. Besides generating a single future path, predicting multiple plausible…

We propose a novel solution for predicting future trajectories of pedestrians. Our method uses a multimodal encoder-decoder transformer architecture, which takes as input both pedestrian locations and ego-vehicle speeds. Notably, our…

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 define trajectory predictive control (TPC) as a family of output-feedback indirect data-driven predictive control (DDPC) methods that represent the output trajectory of a discrete-time system as a linear function of the recent…

Trajectory forecasting is critical for autonomous platforms to make safe planning and actions. Currently, most trajectory forecasting methods assume that object trajectories have been extracted and directly develop trajectory predictors…

Perception and planning under occlusion is essential for safety-critical tasks. Occlusion-aware planning often requires communicating the information of the occluded object to the ego agent for safe navigation. However, communicating rich…