相关论文: MATS: An Interpretable Trajectory Forecasting Repr…

Forecasting vehicular motions in autonomous driving requires a deep understanding of agent interactions and the preservation of motion equivariance under Euclidean geometric transformations. Traditional models often lack the sophistication…

Predicting multiple trajectories for road users is important for automated driving systems: ego-vehicle motion planning indeed requires a clear view of the possible motions of the surrounding agents. However, the generative models used for…

Developing safe human-robot interaction systems is a necessary step towards the widespread integration of autonomous agents in society. A key component of such systems is the ability to reason about the many potential futures (e.g.…

Vision-based trajectory prediction is an important task that supports safe and intelligent behaviours in autonomous systems. Many advanced approaches have been proposed over the years with improved spatial and temporal feature extraction.…

Trajectory prediction modules are key enablers for safe and efficient planning of autonomous vehicles (AVs), particularly in highly interactive traffic scenarios. Recently, learning-based trajectory predictors have experienced considerable…

Human behavior has the nature of mutual dependencies, which requires human-robot interactive systems to predict surrounding agents trajectories by modeling complex social interactions, avoiding collisions and executing safe path planning.…

Multi-agent trajectory data collected from domains such as team sports often suffer from missing values due to various factors. While many imputation methods have been proposed for spatiotemporal data, they are not well-suited for…

Multi-agent trajectory prediction is crucial to autonomous driving and understanding the surrounding environment. Learning-based approaches for multi-agent trajectory prediction, such as primarily relying on graph neural networks, graph…

Trajectory forecasting is a widely-studied problem for autonomous navigation. However, existing benchmarks evaluate forecasting based on independent snapshots of trajectories, which are not representative of real-world applications that…

Temporal causal representation learning methods assume that causal mechanisms switch instantaneously between discrete domains, yet real-world systems often exhibit continuous mechanism transitions. For example, a vehicle's dynamics evolve…

We address the problem of adapting robot trajectories to improve safety, comfort, and efficiency in human-robot collaborative tasks. To this end, we propose CoMOTO, a trajectory optimization framework that utilizes stochastic motion…

Trajectory planning in urban automated driving is challenging because of the high uncertainty resulting from the unknown future motion of other traffic participants. Robust approaches guarantee safety, but tend to result in overly…

In this paper, we propose a novel approach for agent motion prediction in cluttered environments. One of the main challenges in predicting agent motion is accounting for location and context-specific information. Our main contribution is…

Predicting the behaviour (i.e., manoeuvre/trajectory) of other road users, including vehicles, is critical for the safe and efficient operation of autonomous vehicles (AVs), a.k.a., automated driving systems (ADSs). Due to the uncertain…

Understanding traffic participants' behaviour is crucial for predicting their future trajectories, aiding in developing safe and reliable planning systems for autonomous vehicles. Integrating cognitive processes and machine learning models…

Robots must make and break contact with the environment to perform useful tasks, but planning and control through contact remains a formidable challenge. In this work, we achieve real-time contact-implicit model predictive control with a…

Recent efforts in the development of autonomous driving technology have induced great advancements in perception, planning and control systems. Model predictive control is one of the most popular advanced control methods, but its…

Predicting the motion of a driver's vehicle is crucial for advanced driving systems, enabling detection of potential risks towards shared control between the driver and automation systems. In this paper, we propose a variational neural…

Accurate trajectory prediction has long been a major challenge for autonomous driving (AD). Traditional data-driven models predominantly rely on statistical correlations, often overlooking the causal relationships that govern traffic…

Human trajectory forecasting requires capturing the multimodal nature of pedestrian behavior. However, existing approaches suffer from prior misalignment. Their learned or fixed priors often fail to capture the full distribution of…