相关论文: Learning and Predicting Multimodal Vehicle Action …

Motion prediction of surrounding vehicles is one of the most important tasks handled by a self-driving vehicle, and represents a critical step in the autonomous system necessary to ensure safety for all the involved traffic actors. Recently…

We introduce a method for learning the dynamics of complex nonlinear systems based on deep generative models over temporal segments of states and actions. Unlike dynamics models that operate over individual discrete timesteps, we learn the…

Learning a policy using only observational data is challenging because the distribution of states it induces at execution time may differ from the distribution observed during training. We propose to train a policy by unrolling a learned…

Dashboard cameras capture a tremendous amount of driving scene video each day. These videos are purposefully coupled with vehicle sensing data, such as from the speedometer and inertial sensors, providing an additional sensing modality for…

Understanding and modeling human driver behavior is crucial for advanced vehicle development. However, unique driving styles, inconsistent behavior, and complex decision processes render it a challenging task, and existing approaches often…

In a given scenario, simultaneously and accurately predicting every possible interaction of traffic participants is an important capability for autonomous vehicles. The majority of current researches focused on the prediction of an single…

We propose a model predictive control approach for autonomous vehicles that exploits learned Gaussian processes for predicting human driving behavior. The proposed approach employs the uncertainty about the GP's prediction to achieve…

A defining feature of sampling-based motion planning is the reliance on an implicit representation of the state space, which is enabled by a set of probing samples. Traditionally, these samples are drawn either probabilistically or…

This paper presents a novel approach to improving autonomous vehicle control in environments lacking clear road markings by integrating a diffusion-based motion predictor within an Active Inference Framework (AIF). Using a simulated parking…

In this paper we propose a simple yet powerful method for learning representations in supervised learning scenarios where each original input datapoint is described by a set of vectors and their associated outputs may be given by soft…

We introduce temporal multimodal multivariate learning, a new family of decision making models that can indirectly learn and transfer online information from simultaneous observations of a probability distribution with more than one peak or…

In many supervised learning tasks, the entities to be labeled are related to each other in complex ways and their labels are not independent. For example, in hypertext classification, the labels of linked pages are highly correlated. A…

The technology for autonomous vehicles is close to replacing human drivers by artificial systems endowed with high-level decision-making capabilities. In this regard, systems must learn about the usual vehicle's behavior to predict imminent…

In many real-world prediction tasks, class labels contain information about the relative order between labels that are not captured by commonly used loss functions such as multicategory cross-entropy. Recently, the preference for unimodal…

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…

Autonomous vehicles (AVs) are on the road. To safely and efficiently interact with other road participants, AVs have to accurately predict the behavior of surrounding vehicles and plan accordingly. Such prediction should be probabilistic,…

This paper presents a novel approach for learning self-awareness models for autonomous vehicles. The proposed technique is based on the availability of synchronized multi-sensor dynamic data related to different maneuvering tasks performed…

In complex traffic environments, autonomous vehicles face multi-modal uncertainty about other agents' future behavior. To address this, recent advancements in learningbased motion predictors output multi-modal predictions. We present our…

We present a generative framework for zero-shot action recognition where some of the possible action classes do not occur in the training data. Our approach is based on modeling each action class using a probability distribution whose…

We propose a novel approach to train a multi-modal policy from mixed demonstrations without their behavior labels. We develop a method to discover the latent factors of variation in the demonstrations. Specifically, our method is based on…