相关论文: Trajectory Prediction with Latent Belief Energy-Ba…

Time series data is a prevalent form of data found in various fields. It consists of a series of measurements taken over time. Forecasting is a crucial application of time series models, where future values are predicted based on historical…

Learning energy-based model (EBM) requires MCMC sampling of the learned model as an inner loop of the learning algorithm. However, MCMC sampling of EBMs in high-dimensional data space is generally not mixing, because the energy function,…

The transition to Electric Vehicles (EV) in place of traditional internal combustion engines is increasing societal demand for electricity. The ability to integrate the additional demand from EV charging into forecasting electricity demand…

We develop a novel human trajectory prediction system that incorporates the scene information (Scene-LSTM) as well as individual pedestrian movement (Pedestrian-LSTM) trained simultaneously within static crowded scenes. We superimpose a…

Pedestrian trajectory prediction remains a challenge for autonomous systems, particularly due to the intricate dynamics of social interactions. Accurate forecasting requires a comprehensive understanding not only of each pedestrian's…

Human trajectory prediction is a practical task of predicting the future positions of pedestrians on the road, which typically covers all temporal ranges from short-term to long-term within a trajectory. However, existing works attempt to…

Human motion prediction is essential for the safe and smooth operation of mobile service robots and intelligent vehicles around people. Commonly used neural network-based approaches often require large amounts of complete trajectories to…

Long-term human trajectory prediction is a challenging yet critical task in robotics and autonomous systems. Prior work that studied how to predict accurate short-term human trajectories with only unimodal features often failed in long-term…

Latent space Energy-Based Models (EBMs), also known as energy-based priors, have drawn growing interests in the field of generative modeling due to its flexibility in the formulation and strong modeling power of the latent space. However,…

Predicting pedestrian movement is critical for human behavior analysis and also for safe and efficient human-agent interactions. However, despite significant advancements, it is still challenging for existing approaches to capture the…

Energy-Based Models (EBMs) have proven to be a highly effective approach for modelling densities on finite-dimensional spaces. Their ability to incorporate domain-specific choices and constraints into the structure of the model through…

Human motion prediction has traditionally been framed as a sequence regression problem where models extrapolate future joint coordinates from observed pose histories. While effective over short horizons this approach does not separate…

In this paper, we assess the state of the art in pedestrian trajectory prediction within the context of generating single trajectories, a critical aspect aligning with the requirements in autonomous systems. The evaluation is conducted on…

Capturing high-dimensional social interactions and feasible futures is essential for predicting trajectories. To address this complex nature, several attempts have been devoted to reducing the dimensionality of the output variables via…

This work presents an efficient framework to generate a motion plan of a robot with high degrees of freedom (e.g., a humanoid robot). High-dimensionality of the robot configuration space often leads to difficulties in utilizing the…

Human motion and behaviour in crowded spaces is influenced by several factors, such as the dynamics of other moving agents in the scene, as well as the static elements that might be perceived as points of attraction or obstacles. In this…

Latent-variable energy-based models (LVEBMs) assign a single normalized energy to joint pairs of observed data and latent variables, offering expressive generative modeling while capturing hidden structure. We recast maximum-likelihood…

This paper presents a novel approach to modeling human driving behavior, designed for use in evaluating autonomous vehicle control systems in a simulation environments. Our methodology leverages a hierarchical forward-looking, risk-aware…

Automated vehicles are envisioned to navigate safely in complex mixed-traffic scenarios alongside human-driven vehicles. To promise a high degree of safety, accurately predicting the maneuvers of surrounding vehicles and their future…

Trajectory prediction plays a crucial role in improving the safety of autonomous vehicles. However, due to the highly dynamic and multimodal nature of the task, accurately predicting the future trajectory of a target vehicle remains a…