相关论文: TrajGAIL: Generating Urban Vehicle Trajectories us…

We show that a critical vulnerability in adversarial imitation is the tendency of discriminator networks to learn spurious associations between visual features and expert labels. When the discriminator focuses on task-irrelevant features,…

This paper explores a simple regularizer for reinforcement learning by proposing Generative Adversarial Self-Imitation Learning (GASIL), which encourages the agent to imitate past good trajectories via generative adversarial imitation…

Predicting the future trajectories of surrounding vehicles based on their history trajectories is a critical task in autonomous driving. However, when small crafted perturbations are introduced to those history trajectories, the resulting…

In learning from demonstrations, many generative models of trajectories make simplifying assumptions of independence. Correctness is sacrificed in the name of tractability and speed of the learning phase. The ignored dependencies, which…

Trajectory prediction is essential for autonomous vehicles (AVs) to plan correct and safe driving behaviors. While many prior works aim to achieve higher prediction accuracy, few study the adversarial robustness of their methods. To bridge…

Developments in deep generative models have allowed for tractable learning of high-dimensional data distributions. While the employed learning procedures typically assume that training data is drawn i.i.d. from the distribution of interest,…

As a new way of training generative models, Generative Adversarial Nets (GAN) that uses a discriminative model to guide the training of the generative model has enjoyed considerable success in generating real-valued data. However, it has…

This article proposes a method for mathematical modeling of human movements related to patient exercise episodes performed during physical therapy sessions by using artificial neural networks. The generative adversarial network structure is…

Simulation is an appealing option for validating the safety of autonomous vehicles. Generative Adversarial Imitation Learning (GAIL) has recently been shown to learn representative human driver models. These human driver models were learned…

Current multi-person localisation and tracking systems have an over reliance on the use of appearance models for target re-identification and almost no approaches employ a complete deep learning solution for both objectives. We present a…

Auto-encoding generative adversarial networks (GANs) combine the standard GAN algorithm, which discriminates between real and model-generated data, with a reconstruction loss given by an auto-encoder. Such models aim to prevent mode…

Learning from multimodal data is an important research topic in machine learning, which has the potential to obtain better representations. In this work, we propose a novel approach to generative modeling of multimodal data based on…

Trajectory and intention prediction of traffic participants is an important task in automated driving and crucial for safe interaction with the environment. In this paper, we present a new approach to vehicle trajectory prediction based on…

Accurate trajectory prediction is fundamental to autonomous driving, as it underpins safe motion planning and collision avoidance in complex environments. However, existing benchmark datasets suffer from a pronounced long-tail distribution…

Pedestrian trajectory prediction is a critical technology in the evolution of self-driving cars toward complete artificial intelligence. Over recent years, focusing on the trajectories of pedestrians to model their social interactions has…

Prediction of human motions is key for safe navigation of autonomous robots among humans. In cluttered environments, several motion hypotheses may exist for a pedestrian, due to its interactions with the environment and other pedestrians.…

Most evaluations of autonomous driving policies under adversarial conditions are conducted in simulation, due to cost efficiency and the absence of physical risk. However, purely virtual testing fails to capture structural inconsistencies,…

Realistic traffic simulation is critical for the development of autonomous driving systems and urban mobility planning, yet existing imitation learning approaches often fail to model realistic traffic behaviors. Behavior cloning suffers…

This paper proposes a novel approach for predicting the motion of pedestrians interacting with others. It uses a Generative Adversarial Network (GAN) to sample plausible predictions for any agent in the scene. As GANs are very susceptible…

Machine learning-based forecasting models are commonly used in Intelligent Transportation Systems (ITS) to predict traffic patterns and provide city-wide services. However, most of the existing models are susceptible to adversarial attacks,…