相关论文: Cooperative Probabilistic Trajectory Forecasting u…

Given a single RGB image of a complex outdoor road scene in the perspective view, we address the novel problem of estimating an occlusion-reasoned semantic scene layout in the top-view. This challenging problem not only requires an accurate…

Pedestrians are particularly vulnerable road users in urban traffic. With the arrival of autonomous driving, novel technologies can be developed specifically to protect pedestrians. We propose a machine learning toolchain to train…

Deciphering human behaviors to predict their future paths/trajectories and what they would do from videos is important in many applications. Motivated by this idea, this paper studies predicting a pedestrian's future path jointly with…

The success of autonomous systems will depend upon their ability to safely navigate human-centric environments. This motivates the need for a real-time, probabilistic forecasting algorithm for pedestrians, cyclists, and other agents since…

Non-prehensile manipulation using onboard sensing presents a fundamental challenge: the manipulated object occludes the sensor's field of view, creating occluded regions that can lead to collisions. We propose CURA-PPO, a reinforcement…

Algorithms for motion planning in unknown environments are generally limited in their ability to reason about the structure of the unobserved environment. As such, current methods generally navigate unknown environments by relying on…

Image matching is a fundamental and critical task in various visual applications, such as Simultaneous Localization and Mapping (SLAM) and image retrieval, which require accurate pose estimation. However, most existing methods ignore the…

For robots to be a part of our daily life, they need to be able to navigate among crowds not only safely but also in a socially compliant fashion. This is a challenging problem because humans tend to navigate by implicitly cooperating with…

We address the manipulation task of retrieving a target object from a cluttered shelf. When the target object is hidden, the robot must search through the clutter for retrieving it. Solving this task requires reasoning over the likely…

Modeling the cognitive and experiential factors of human navigation is central to deepening our understanding of human-environment interaction and to enabling safe social navigation and effective assistive wayfinding. Most existing methods…

Safe motion planning for robotic systems in dynamic environments is nontrivial in the presence of uncertain obstacles, where estimation of obstacle uncertainties is crucial in predicting future motions of dynamic obstacles. The worst-case…

Motion prediction of vehicles is critical but challenging due to the uncertainties in complex environments and the limited visibility caused by occlusions and limited sensor ranges. In this paper, we study a new task, safety-aware motion…

Accurate traffic participant prediction is the prerequisite for collision avoidance of autonomous vehicles. In this work, we predict pedestrians by emulating their own motion planning. From online observations, we infer a mixture density…

Autonomous vehicles (AVs) must navigate dynamic urban environments where occlusions and perception limitations introduce significant uncertainties. This research builds upon and extends existing approaches in risk-aware motion planning and…

We consider scenarios where a ground vehicle plans its path using data gathered by an aerial vehicle. In the aerial images, navigable areas of the scene may be occluded due to obstacles. Naively planning paths using aerial images may result…

This paper proposes a cooperative integrated estimation-guidance framework for simultaneous interception of a non-maneuvering target using a team of unmanned autonomous vehicles, assuming only a subset of vehicles are equipped with…

Trajectory forecasting is critical for autonomous platforms to make safe planning and actions. Currently, most trajectory forecasting methods assume that object trajectories have been extracted and directly develop trajectory predictors…

Systems involving human-robot collaboration necessarily require that steps be taken to ensure safety of the participating human. This is usually achievable if accurate, reliable estimates of the human's pose are available. In this paper, we…

Trajectory modelling had been the principal research area for understanding and anticipating human behaviour. Predicting the dynamic path by observing the agent and its surrounding environment are essential for applications such as…

Language-conditioned local navigation requires a robot to infer a nearby traversable target location from its current observation and an open-vocabulary, relational instruction. Existing vision-language spatial grounding methods usually…