相关论文: HOME: Heatmap Output for future Motion Estimation

Given a visual history, multiple future outcomes for a video scene are equally probable, in other words, the distribution of future outcomes has multiple modes. Multimodality is notoriously hard to handle by standard regressors or…

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…

Our goal is to forecast the near future given a set of recent observations. We think this ability to forecast, i.e., to anticipate, is integral for the success of autonomous agents which need not only passively analyze an observation but…

Human motion prediction aims to forecast future human poses given a past motion. Whether based on recurrent or feed-forward neural networks, existing methods fail to model the observation that human motion tends to repeat itself, even for…

Representing diverse and plausible future trajectories is critical for motion forecasting in autonomous driving. However, efficiently capturing these trajectories in a compact set remains challenging. This study introduces a novel approach…

Detection and segmentation of moving obstacles, along with prediction of the future occupancy states of the local environment, are essential for autonomous vehicles to proactively make safe and informed decisions. In this paper, we propose…

Forecasting future events based on evidence of current conditions is an innate skill of human beings, and key for predicting the outcome of any decision making. In artificial vision for example, we would like to predict the next human…

We propose a novel neural memory network based framework for future action sequence forecasting. This is a challenging task where we have to consider short-term, within sequence relationships as well as relationships in between sequences,…

Predicting the future motion of road participants is crucial for autonomous driving but is extremely challenging due to staggering motion uncertainty. Recently, most motion forecasting methods resort to the goal-based strategy, i.e.,…

Video extrapolation in space and time (VEST) enables viewers to forecast a 3D scene into the future and view it from novel viewpoints. Recent methods propose to learn an entangled representation, aiming to model layered scene geometry,…

In the United States alone accidental home deaths exceed 128,000 per year. Our work aims to enable home robots who respond to emergency scenarios in the home, preventing injuries and deaths. We introduce a new dataset of household…

Real-world autonomous systems often employ probabilistic predictive models of human behavior during planning to reason about their future motion. Since accurately modeling human behavior a priori is challenging, such models are often…

Trajectory optimization for motion planning requires good initial guesses to obtain good performance. In our proposed approach, we build a memory of motion based on a database of robot paths to provide good initial guesses. The memory of…

We present a framework for learning to guide geometric task and motion planning (GTAMP). GTAMP is a subclass of task and motion planning in which the goal is to move multiple objects to target regions among movable obstacles. A standard…

The challenge of navigation in environments with dynamic objects continues to be a central issue in the study of autonomous agents. While predictive methods hold promise, their reliance on precise state information makes them less practical…

Action Units (AUs) are geometrically-based atomic facial muscle movements known to produce appearance changes at specific facial locations. Motivated by this observation we propose a novel AU modelling problem that consists of jointly…

This paper presents a sampling-based motion planning framework that leverages the geometry of obstacles in a workspace as well as prior experiences from motion planning problems. Previous studies have demonstrated the benefits of utilizing…

Motion planning at urban intersections that accounts for the situation context, handles occlusions, and deals with measurement and prediction uncertainty is a major challenge on the way to urban automated driving. In this work, we address…

In literature, scientists describe human mobility in a range of granularities by several different models. Using frameworks like MATSIM, VehiLux, or Sumo, they often derive individual human movement indicators in their most detail. However,…

We introduce motion graph, a novel approach to the video prediction problem, which predicts future video frames from limited past data. The motion graph transforms patches of video frames into interconnected graph nodes, to comprehensively…