相关论文: RMP: A Random Mask Pretrain Framework for Motion P…

We present a self-supervised sensorimotor pre-training approach for robotics. Our model, called RPT, is a Transformer that operates on sequences of sensorimotor tokens. Given a sequence of camera images, proprioceptive robot states, and…

Predicting the future motion of surrounding agents is essential for autonomous vehicles (AVs) to operate safely in dynamic, human-robot-mixed environments. However, the scarcity of large-scale driving datasets has hindered the development…

For motion planning and control of autonomous vehicles to be proactive and safe, pedestrians' and other road users' motions must be considered. In this paper, we present a vehicle motion planning and control framework, based on Model…

Inspired by ideas in cognitive science, we propose a novel and general approach to solve human motion understanding via pattern completion on a learned latent representation space. Our model outperforms current state-of-the-art methods in…

Human movement prediction is difficult as humans naturally exhibit complex behaviors that can change drastically from one environment to the next. In order to alleviate this issue, we propose a prediction framework that decouples short-term…

We propose a mask pretraining method for Graph Neural Networks (GNNs) to improve their performance on fitting potential energy surfaces, particularly in water systems. GNNs are pretrained by recovering spatial information related to…

Motion forecasting aims to predict the future trajectories of dynamic agents in the scene, enabling autonomous vehicles to effectively reason about scene evolution. Existing approaches operate under the closed-world regime and assume fixed…

Recent work in Offline Reinforcement Learning (RL) has shown that a unified Transformer trained under a masked auto-encoding objective can effectively capture the relationships between different modalities (e.g., states, actions, rewards)…

Recent approaches in literature have exploited the multi-modal information in documents (text, layout, image) to serve specific downstream document tasks. However, they are limited by their - (i) inability to learn cross-modal…

Predicting multimodal future behavior of traffic participants is essential for robotic vehicles to make safe decisions. Existing works explore to directly predict future trajectories based on latent features or utilize dense goal candidates…

This work addresses the problem of predicting the motion trajectories of dynamic objects in the environment. Recent advances in predicting motion patterns often rely on machine learning techniques to extrapolate motion patterns from…

Predicting surrounding vehicle behaviors are critical to autonomous vehicles when negotiating in multi-vehicle interaction scenarios. Most existing approaches require tedious training process with large amounts of data and may fail to…

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…

Model Predictive Control lacks the ability to escape local minima in nonconvex problems. Furthermore, in fast-changing, uncertain environments, the conventional warmstart, using the optimal trajectory from the last timestep, often falls…

Prognostication of vehicle trajectories in unknown environments is intrinsically a challenging and difficult problem to solve. The behavior of such vehicles is highly influenced by surrounding traffic, road conditions, and rogue…

For protein sequence datasets, unlabeled data has greatly outpaced labeled data due to the high cost of wet-lab characterization. Recent deep-learning approaches to protein prediction have shown that pre-training on unlabeled data can yield…

Predicting multiple plausible future trajectories of the nearby vehicles is crucial for the safety of autonomous driving. Recent motion prediction approaches attempt to achieve such multimodal motion prediction by implicitly regularizing…

Prediction of human motions is key for safe navigation of autonomous robots among humans. In cluttered environments, several motion hypotheses may exist for a pedestrian, due to its interactions with the environment and other pedestrians.…

In this paper, we focus on unsupervised representation learning for skeleton-based action recognition. Existing approaches usually learn action representations by sequential prediction but they suffer from the inability to fully learn…

Trajectory prediction is crucial for autonomous vehicles. The planning system not only needs to know the current state of the surrounding objects but also their possible states in the future. As for vehicles, their trajectories are…