相关论文: Propagating State Uncertainty Through Trajectory F…

Vessel trajectory prediction is a critical component for ensuring maritime traffic safety and avoiding collisions. Due to the inherent uncertainty in vessel behavior, trajectory prediction systems must adopt a multimodal approach to…

An active area of research is to increase the safety of self-driving vehicles. Although safety cannot be guarenteed completely, the capability of a vehicle to predict the future trajectories of its surrounding vehicles could help ensure…

Trajectory prediction is an essential step in the pipeline of an autonomous vehicle. Inaccurate or inconsistent predictions regarding the movement of agents in its surroundings lead to poorly planned maneuvers and potentially dangerous…

Learning dynamical systems from incomplete or noisy data is inherently ill-posed, as a single observation may correspond to multiple plausible futures. While physics-based ensemble forecasting relies on perturbing initial states to capture…

High-definition (HD) maps have played an integral role in the development of modern autonomous vehicle (AV) stacks, albeit with high associated labeling and maintenance costs. As a result, many recent works have proposed methods for…

Ideally, robots should move in ways that maximize the knowledge gained about the state of both their internal system and the external operating environment. Trajectory design is a challenging problem that has been investigated from a…

Recent advances in generative world models have enabled classical safe control methods, such as Hamilton-Jacobi (HJ) reachability, to generalize to complex robotic systems operating directly from high-dimensional sensor observations.…

This paper addresses the limitations of standard uncertainty models, e.g., robust (norm-bounded) and stochastic (one fixed distribution, e.g., Gaussian), and proposes to model uncertainty via Optimal Transport (OT) ambiguity sets. These…

Learning behavioral patterns from observational data has been a de-facto approach to motion forecasting. Yet, the current paradigm suffers from two shortcomings: brittle under distribution shifts and inefficient for knowledge transfer. In…

In this paper, we consider the problem of propagating an uncertain distribution by a possibly non-linear function and quantifying the resulting uncertainty. We measure the uncertainty using the Wasserstein distance, and for a given input…

Giving autonomous agents the ability to forecast their own outcomes and uncertainty will allow them to communicate their competencies and be used more safely. We accomplish this by using a learned world model of the agent system to forecast…

For safe operation, a robot must be able to avoid collisions in uncertain environments. Existing approaches for motion planning under uncertainties often assume parametric obstacle representations and Gaussian uncertainty, which can be…

We introduce ForeSight, a novel joint detection and forecasting framework for vision-based 3D perception in autonomous vehicles. Traditional approaches treat detection and forecasting as separate sequential tasks, limiting their ability to…

End-to-end visuomotor control is emerging as a compelling solution for robot manipulation tasks. However, imitation learning-based visuomotor control approaches tend to suffer from a common limitation, lacking the ability to recover from an…

Reliable predictive uncertainty estimation plays an important role in enabling the deployment of neural networks to safety-critical settings. A popular approach for estimating the predictive uncertainty of neural networks is to define a…

Probabilistic regression models the entire predictive distribution of a response variable, offering richer insights than classical point estimates and directly allowing for uncertainty quantification. While diffusion-based generative models…

Predicting the future motion of vehicles has been studied using various techniques, including stochastic policies, generative models, and regression. Recent work has shown that classification over a trajectory set, which approximates…

Constructing valid and informative conformal prediction regions for multi-dimensional outputs remains a fundamental challenge. While conformal prediction provides finite-sample, distribution-free coverage guarantees, its practical…

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…

We present the design and development of a data stream system that captures data uncertainty from data collection to query processing to final result generation. Our system focuses on data that is naturally modeled as continuous random…