相关论文: Human Trajectory Forecasting with Explainable Beha…

We study the problem of modeling human mobility from semantic trace data, wherein each GPS record in a trace is associated with a text message that describes the user's activity. Existing methods fall short in unveiling human movement…

Safe and computationally efficient local planning for mobile robots in dense, unstructured human crowds remains a fundamental challenge. Moreover, ensuring that robot trajectories are similar to how a human moves will increase the…

In trajectory forecasting tasks for traffic, future output trajectories can be computed by advancing the ego vehicle's state with predicted actions according to a kinematics model. By unrolling predicted trajectories via time integration…

Neural differential equations predict the derivative of a stochastic process. This allows irregular forecasting with arbitrary time-steps. However, the expressive temporal flexibility often comes with a high sensitivity to noise. In…

As more and more robots are envisioned to cooperate with humans sharing the same space, it is desired for robots to be able to predict others' trajectories to navigate in a safe and self-explanatory way. We propose a Convolutional Neural…

A regression-based BNN model is proposed to predict spatiotemporal quantities like hourly rider demand with calibrated uncertainties. The main contributions of this paper are (i) A feed-forward deterministic neural network (DetNN)…

Neural Ordinary Differential Equations (N-ODEs) are a powerful building block for learning systems, which extend residual networks to a continuous-time dynamical system. We propose a Bayesian version of N-ODEs that enables well-calibrated…

Human motion prediction is key to understand social environments, with direct applications in robotics, surveillance, etc. We present a simple yet effective pedestrian trajectory prediction model aimed at pedestrians positions prediction in…

The time it takes for a classifier to make an accurate prediction can be crucial in many behaviour recognition problems. For example, an autonomous vehicle should detect hazardous pedestrian behaviour early enough for it to take appropriate…

We present a novel approach to generate collision-free trajectories for a robot operating in close proximity with a human obstacle in an occluded environment. The self-occlusions of the robot can significantly reduce the accuracy of human…

Predicting future human motion is critical for intelligent robots to interact with humans in the real world, and human motion has the nature of multi-granularity. However, most of the existing work either implicitly modeled…

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…

Predicting future behavior of other traffic participants is an essential task that needs to be solved by automated vehicles and human drivers alike to achieve safe and situationaware driving. Modern approaches to vehicles trajectory…

The ability to accurately predict the trajectory of surrounding vehicles is a critical hurdle to overcome on the journey to fully autonomous vehicles. To address this challenge, we pioneer a novel behavior-aware trajectory prediction model…

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…

The indeterminate nature of human motion requires trajectory prediction systems to use a probabilistic model to formulate the multi-modality phenomenon and infer a finite set of future trajectories. However, the inference processes of most…

Given taxi-ride counts information between departure and destination locations, how can we forecast their future demands? In general, given a data stream of events with seasonal patterns that innovate over time, how can we effectively and…

Accurate trajectory prediction is vital for autonomous driving, robotics, and intelligent decision-making systems, yet traditional models typically rely on fixed-length output predictions, limiting their adaptability to dynamic real-world…

Free-standing social conversations constitute a yet underexplored setting for human behavior forecasting. While the task of predicting pedestrian trajectories has received much recent attention, an intrinsic difference between these…

Walking-assistive devices require adaptive control methods to ensure smooth transitions between various modes of locomotion. For this purpose, detecting human locomotion modes (e.g., level walking or stair ascent) in advance is crucial for…