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

This paper leverages macroscopic models and multi-source spatiotemporal data collected from automatic traffic counters and probe vehicles to accurately estimate traffic flow and travel time in links where these measurements are unavailable.…

Accurately predicting the trajectory of surrounding vehicles is a critical challenge for autonomous vehicles. In complex traffic scenarios, there are two significant issues with the current autonomous driving system: the cognitive…

This paper introduces a novel trajectory planner for autonomous robots, specifically designed to enhance navigation by incorporating dynamic obstacle avoidance within the Robot Operating System 2 (ROS2) and Navigation 2 (Nav2) framework.…

In this paper we propose a novel end-to-end learnable network that performs joint perception, prediction and motion planning for self-driving vehicles and produces interpretable intermediate representations. Unlike existing neural motion…

In order to safely operate around humans, robots can employ predictive models of human motion. Unfortunately, these models cannot capture the full complexity of human behavior and necessarily introduce simplifying assumptions. As a result,…

As autonomous driving technology progresses, the need for precise trajectory prediction models becomes paramount. This paper introduces an innovative model that infuses cognitive insights into trajectory prediction, focusing on perceived…

We introduce Masked Trajectory Models (MTM) as a generic abstraction for sequential decision making. MTM takes a trajectory, such as a state-action sequence, and aims to reconstruct the trajectory conditioned on random subsets of the same…

We explore the promising performance of a transformer model in predicting outputs of parametric dynamical systems with external time-varying input signals. The outputs of such systems vary not only with physical parameters but also with…

The goal of Multi-Agent Path Finding (MAPF) is to find a set of paths for a fleet of agents moving in a shared environment such that the agents reach their goals without colliding with each other. In practice, some of the robots executing…

Modular Aerial Robot Systems (MARS) consist of multiple drone units that can self-reconfigure to adapt to various mission requirements and fault conditions. However, existing fault-tolerant control methods exhibit significant oscillations…

Flow matching has recently emerged as a powerful paradigm for generative modeling and has been extended to probabilistic time series forecasting in latent spaces. However, the impact of the specific choice of probability path model on…

This work introduces a novel interpretable machine learning method called Mixture of Decision Trees (MoDT). It constitutes a special case of the Mixture of Experts ensemble architecture, which utilizes a linear model as gating function and…

The past few years have seen immense progress on two fronts that are critical to safe, widespread mobile robot deployment: predicting uncertain motion of multiple agents, and planning robot motion under uncertainty. However, the numerical…

Recent progress in time-series forecasting has led to rapidly increasing architectural complexity, yet many reported State-of-the-Art gains are statistically fragile or misattributed. We argue that progress requires a shift from model…

Accurately tracking and predicting behaviors of surrounding objects are key prerequisites for intelligent systems such as autonomous vehicles to achieve safe and high-quality decision making and motion planning. However, there still remain…

Predicting future trajectories of nearby objects, especially under occlusion, is a crucial task in autonomous driving and safe robot navigation. Prior works typically neglect to maintain uncertainty about occluded objects and only predict…

Data-driven methods have great advantages in modeling complicated human behavioral dynamics and dealing with many human-robot interaction applications. However, collecting massive and annotated real-world human datasets has been a laborious…

This paper presents a motion planning and risk analysis framework for enhancing human-robot collaboration with a Multi-Rotor Aerial Vehicle. The proposed method employs Signal Temporal Logic to encode key mission objectives, including…

Traffic flow forecasting is a crucial task in transportation management and planning. The main challenges for traffic flow forecasting are that (1) as the length of prediction time increases, the accuracy of prediction will decrease; (2)…

In order to plan a safe maneuver an autonomous vehicle must accurately perceive its environment, and understand the interactions among traffic participants. In this paper, we aim to learn scene-consistent motion forecasts of complex urban…