相关论文: BGM: Building a Dynamic Guidance Map without Visua…

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…

Visual navigation takes inspiration from humans, who navigate in previously unseen environments using vision without detailed environment maps. Inspired by this, we introduce a novel no-RL, no-graph, no-odometry approach to visual…

Pedestrian trajectory prediction is a challenging task because of the complexity of real-world human social behaviors and uncertainty of the future motion. For the first issue, existing methods adopt fully connected topology for modeling…

Generating realistic robotic manipulation videos is an important step toward unifying perception, planning, and action in embodied agents. While existing video diffusion models require large domain-specific datasets and struggle to…

The appearance of the world varies dramatically not only from place to place but also from hour to hour and month to month. Every day billions of images capture this complex relationship, many of which are associated with precise time and…

Trajectory prediction aims to forecast agents' possible future locations considering their observations along with the video context. It is strongly needed by many autonomous platforms like tracking, detection, robot navigation, and…

Being able to generate realistic trajectory options is at the core of increasing the degree of automation of road vehicles. While model-driven, rule-based, and classical learning-based methods are widely used to tackle these tasks at…

In this paper, we introduce a novel approach for autonomous driving trajectory generation by harnessing the complementary strengths of diffusion probabilistic models (a.k.a., diffusion models) and transformers. Our proposed framework,…

Predicting user churn in non-subscription gig platforms, where disengagement is implicit, poses unique challenges due to the absence of explicit labels and the dynamic nature of user behavior. Existing methods often rely on aggregated…

Although large language models (LLMs) have advanced rapidly, robust automation of complex software workflows remains an open problem. In long-horizon settings, agents frequently suffer from cascading errors and environmental stochasticity;…

We consider the problem of object goal navigation in unseen environments. Solving this problem requires learning of contextual semantic priors, a challenging endeavour given the spatial and semantic variability of indoor environments.…

We propose an approach to simulating trajectories of multiple interacting agents (road users) based on transformers and probabilistic graphical models (PGMs), and apply it to the Waymo SimAgents challenge. The transformer baseline is based…

Accurate video understanding involves reasoning about the relationships between actors, objects and their environment, often over long temporal intervals. In this paper, we propose a message passing graph neural network that explicitly…

Simulation forms the backbone of modern self-driving development. Simulators help develop, test, and improve driving systems without putting humans, vehicles, or their environment at risk. However, simulators face a major challenge: They…

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.…

Predicting the trajectories of surrounding agents is an essential ability for autonomous vehicles navigating through complex traffic scenes. The future trajectories of agents can be inferred using two important cues: the locations and past…

Manually specifying features that capture the diversity in traffic environments is impractical. Consequently, learning-based agents cannot realize their full potential as neural motion planners for autonomous vehicles. Instead, this work…

Learning to navigate in a realistic setting where an agent must rely solely on visual inputs is a challenging task, in part because the lack of position information makes it difficult to provide supervision during training. In this paper,…

Accurate motion prediction of pedestrians, cyclists, and other surrounding vehicles (all called agents) is very important for autonomous driving. Most existing works capture map information through an one-stage interaction with map by…

The ultimate navigation efficiency of mobile robots in human environments will depend on how we will appraise them: merely as impersonal machines or as human-like agents. In the latter case, an agent may take advantage of the cooperative…