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

Deploying LLMs raises two coupled challenges: (1) monitoring--estimating where a model underperforms as traffic and domains drift--and (2) improvement--prioritizing data acquisition to close the largest performance gaps. We test whether an…

Predicting the future trajectories of on-road vehicles is critical for autonomous driving. In this paper, we introduce a novel prediction framework called PRIME, which stands for Prediction with Model-based Planning. Unlike recent…

Humans learn from observations and experiences to adjust their behaviours towards better performance. Interacting with such dynamic humans is challenging, as the robot needs to predict the humans accurately for safe and efficient…

The advancement of socially-aware autonomous vehicles hinges on precise modeling of human behavior. Within this broad paradigm, the specific challenge lies in accurately predicting pedestrian's trajectory and intention. Traditional…

Understanding uncertainty in chain-of-thought reasoning is critical for reliable deployment of large language models. In this work, we propose a simple yet effective diagnostic approach based on trajectory shape rather than scalar…

A crucial design decision for any robot learning pipeline is the choice of policy representation: what type of model should be used to generate the next set of robot actions? Owing to the inherent multi-modal nature of many robotic tasks,…

Autonomous vehicles require accurate and reliable short-term trajectory predictions for safe and efficient driving. While most commercial automated vehicles currently use state machine-based algorithms for trajectory forecasting, recent…

Flight trajectory prediction is a critical time series task in aviation. While deep learning methods have shown significant promise, the application of large language models (LLMs) to this domain remains underexplored. This study pioneers…

Energy-based models (EBMs) provide a powerful and flexible way of learning a joint probability distribution over data by constructing an energy surface. This energy surface enables insight extraction and conditional sampling. We apply EBMs…

This paper presents a personalized Battery Electric Vehicle (BEV) energy consumption estimation framework that integrates map-based contextual features with driver-specific velocity prediction and physics-based energy consumption modeling.…

Autoregressive models (ARMs) currently constitute the dominant paradigm for large language models (LLMs). Energy-based models (EBMs) represent another class of models, which have historically been less prevalent in LLM development, yet…

Predicting pedestrian motion is essential for developing socially-aware robots that interact in a crowded environment. While the natural visual perspective for a social interaction setting is an egocentric view, the majority of existing…

Multimodal generative models are crucial for various applications. We propose an approach that combines an expressive energy-based model (EBM) prior with Markov Chain Monte Carlo (MCMC) inference in the latent space for multimodal…

Human trajectory forecasting is a critical challenge in fields such as robotics and autonomous driving. Due to the inherent uncertainty of human actions and intentions in real-world scenarios, various unexpected occurrences may arise. To…

The vulnerability of cities has increased with urbanization and climate change, making it more important to predict human mobility during extreme events (e.g., extreme weather) for downstream tasks including location-based early disaster…

Since the past few decades, human trajectory forecasting has been a field of active research owing to its numerous real-world applications: evacuation situation analysis, deployment of intelligent transport systems, traffic operations, to…

Large language models (LLMs) are increasingly used to simulate human behavior, but common practices to use LLM-generated data are inefficient. Treating an LLM's output ("model choice") as a single data point underutilizes the information…

Autonomous driving lacks strong proof of energy efficiency with the energy-model-agnostic trajectory planning. To achieve an energy consumption model-aware trajectory planning for autonomous driving, this study proposes an online nonlinear…

Trajectory prediction (TP) plays an important role in supporting the decision-making of Air Traffic Controllers (ATCOs). Traditional TP methods are deterministic and physics-based, with parameters that are calibrated using aircraft…

Rapid developments in streaming data technologies have enabled real-time monitoring of human activity that can deliver high-resolution data on health variables over trajectories or paths carved out by subjects as they conduct their daily…