相关论文: Aware of the History: Trajectory Forecasting with …

This paper introduces a trajectory prediction model tailored for autonomous driving, focusing on capturing complex interactions in dynamic traffic scenarios without reliance on high-definition maps. The model, termed MFTraj, harnesses…

We propose a data-driven optimization-based pre-compensation method to improve the contour tracking performance of precision motion stages by modifying the reference trajectory and without modifying any built-in low-level controllers. The…

This paper proposes a new driving style recognition approach that allows autonomous vehicles (AVs) to perform trajectory predictions for surrounding vehicles with minimal data. Toward that end, we use a hybrid of offline and online methods…

We introduce a representation learning framework for spatial trajectories. We represent partial observations of trajectories as probability distributions in a learned latent space, which characterize the uncertainty about unobserved parts…

We present a novel approach for long-term human trajectory prediction in indoor human-centric environments, which is essential for long-horizon robot planning in these environments. State-of-the-art human trajectory prediction methods are…

Temporal logic rules are often used in control and robotics to provide structured, human-interpretable descriptions of trajectory data. These rules have numerous applications including safety validation using formal methods, constraining…

Accurate prediction of vehicle trajectories is vital for advanced driver assistance systems and autonomous vehicles. Existing methods mainly rely on generic trajectory predictions derived from large datasets, overlooking the personalized…

This paper introduces a novel approach to urban pathfinding by transforming traditional heuristic-based algorithms into deep learning models that leverage real-time contextual data, such as traffic and weather conditions. We propose two…

Uncertainty modeling is critical in trajectory forecasting systems for both interpretation and safety reasons. To better predict the future trajectories of multiple agents, recent works have introduced interaction modules to capture…

To interact with humans in collaborative environments, machines need to be able to predict (i.e., anticipate) future events, and execute actions in a timely manner. However, the observation of the human limb movements may not be sufficient…

Large language models (LLMs) demonstrate impressive reasoning abilities, but translating reasoning into actions in the real world remains challenging. In particular, it remains unclear how to complete a given task provably within a minimum…

Human motion prediction is important for mobile service robots and intelligent vehicles to operate safely and smoothly around people. The more accurate predictions are, particularly over extended periods of time, the better a system can,…

Visual observation of objects is essential for many robotic applications, such as object reconstruction and manipulation, navigation, and scene understanding. Machine learning algorithms constitute the state-of-the-art in many fields but…

Incorporating the dynamics knowledge into the model is critical for achieving accurate trajectory prediction while considering the spatial and temporal characteristics of the vessel. However, existing methods rarely consider the underlying…

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…

Refined trajectory inference of urban rail transit is of great significance to the operation organization. In this paper, we develop a fully data-driven approach to inferring individual travel trajectories in urban rail transit systems. It…

Detecting other agents and forecasting their behavior is an integral part of the modern robotic autonomy stack, especially in safety-critical scenarios entailing human-robot interaction such as autonomous driving. Due to the importance of…

Forecasting the trajectory of pedestrians in shared urban traffic environments is still considered one of the challenging problems facing the development of autonomous vehicles (AVs). In the literature, this problem is often tackled using…

Trajectory prediction plays a vital role in understanding pedestrian movement for applications such as autonomous driving and robotics. Current trajectory prediction models depend on long, complete, and accurately observed sequences from…

Prior arts in the field of motion predictions for autonomous driving tend to focus on finding a trajectory that is close to the ground truth trajectory. Such problem formulations and approaches, however, frequently lead to loss of diversity…