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

Given their flexibility and encouraging performance, deep-learning models are becoming standard for motion prediction in autonomous driving. However, with great flexibility comes a lack of interpretability and possible violations of…

The emergence of Pre-trained Language Models (PLMs) has achieved tremendous success in the field of Natural Language Processing (NLP) by learning universal representations on large corpora in a self-supervised manner. The pre-trained models…

Human motion prediction is an important component to facilitate human robot interaction. Robots need to accurately predict human's future movement in order to safely plan its own motion trajectories and efficiently collaborate with humans.…

Recent breakthroughs in reasoning models have markedly advanced the reasoning capabilities of large language models, particularly via training on tasks with verifiable rewards. Yet, a significant gap persists in their adaptation to real…

This paper presents a data-driven decentralized trajectory optimization approach for multi-robot motion planning in dynamic environments. When navigating in a shared space, each robot needs accurate motion predictions of neighboring robots…

Understanding and anticipating human activity is an important capability for intelligent systems in mobile robotics, autonomous driving, and video surveillance. While learning from demonstrations with on-site collected trajectory data is a…

In the past few years, the emergence of pre-training models has brought uni-modal fields such as computer vision (CV) and natural language processing (NLP) to a new era. Substantial works have shown they are beneficial for downstream…

Self-driving vehicles rely on sensory input to monitor their surroundings and continuously adapt to the most likely future road course. Predictive trajectory planning is based on snapshots of the (uncertain) road course as a key input.…

Physical measurements constitute a large portion of numbers in academic papers, engineering reports, and web tables. Current benchmarks fall short of properly evaluating numeracy of pretrained language models on measurements, hindering…

Network traffic refers to the amount of data being sent and received over the Internet or any system that connects computers. Analyzing network traffic is vital for security and management, yet remains challenging due to the heterogeneity…

Training objectives based on predictive coding have recently been shown to be very effective at learning meaningful representations from unlabeled speech. One example is Autoregressive Predictive Coding (Chung et al., 2019), which trains an…

Human motion and behaviour in crowded spaces is influenced by several factors, such as the dynamics of other moving agents in the scene, as well as the static elements that might be perceived as points of attraction or obstacles. In this…

Self-supervised learning via masked prediction pre-training (MPPT) has shown impressive performance on a range of speech-processing tasks. This paper proposes a method to bias self-supervised learning towards a specific task. The core idea…

Pedestrian motion prediction is a fundamental task for autonomous robots and vehicles to operate safely. In recent years many complex approaches based on neural networks have been proposed to address this problem. In this work we show that…

Deep learning has recently achieved significant progress in trajectory forecasting. However, the scarcity of trajectory data inhibits the data-hungry deep-learning models from learning good representations. While mature representation…

Motion planning under uncertainty is one of the main challenges in developing autonomous driving vehicles. In this work, we focus on the uncertainty in sensing and perception, resulted from a limited field of view, occlusions, and sensing…

Masked Image Modeling (MIM) is a powerful self-supervised strategy for visual pre-training without the use of labels. MIM applies random crops to input images, processes them with an encoder, and then recovers the masked inputs with a…

Event cameras asynchronously capture brightness changes with low latency, high temporal resolution, and high dynamic range. However, annotation of event data is a costly and laborious process, which limits the use of deep learning methods…

Multimodal learning seeks to combine data from multiple input sources to enhance the performance of different downstream tasks. In real-world scenarios, performance can degrade substantially if some input modalities are missing. Existing…

Motion forecasting is a core task in autonomous driving systems, aiming to accurately predict the future trajectories of surrounding agents to ensure driving safety. Existing methods typically process discrete driving scenes independently,…