相关论文: Adaptive Human Trajectory Prediction via Latent Co…

Context plays a significant role in the generation of motion for dynamic agents in interactive environments. This work proposes a modular method that utilises a learned model of the environment for motion prediction. This modularity…

Accurate prediction of pedestrians' future motions is critical for intelligent driving systems. Developing models for this task requires rich datasets containing diverse sets of samples. However, the existing naturalistic trajectory…

Since the past few decades, human trajectory forecasting has been a field of active research owing to its numerous real-world applications: evacuation situation analysis, deployment of intelligent transport systems, traffic operations, to…

Robot person following (RPF) is a core capability in human-robot interaction, enabling robots to assist users in daily activities, collaborative work, and other service scenarios. However, achieving practical RPF remains challenging due to…

In the burgeoning field of autonomous vehicles (AVs), trajectory prediction remains a formidable challenge, especially in mixed autonomy environments. Traditional approaches often rely on computational methods such as time-series analysis.…

In this paper, we develop a neural network model to predict future human motion from an observed human motion history. We propose a non-autoregressive transformer architecture to leverage its parallel nature for easier training and fast,…

Agile humanoid locomotion in complex 3D en- vironments requires balancing perceptual fidelity with com- putational efficiency, yet existing methods typically rely on rigid sensing configurations. We propose ADAPT (Adaptive dual-projection…

We present a new method for multi-modal, long-term vehicle trajectory prediction. Our approach relies on using lane centerlines captured in rich maps of the environment to generate a set of proposed goal paths for each vehicle. Using these…

The task of action-driven human motion prediction aims to forecast future human motion based on the observed sequence while respecting the given action label. It requires modeling not only the stochasticity within human motion but the…

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…

Predicting pedestrian motion trajectories is crucial for path planning and motion control of autonomous vehicles. Accurately forecasting crowd trajectories is challenging due to the uncertain nature of human motions in different…

Predicting a vehicle's trajectory is an essential ability for autonomous vehicles navigating through complex urban traffic scenes. Bird's-eye-view roadmap information provides valuable information for making trajectory predictions, and…

Accurate prediction of pedestrian trajectories is crucial for enhancing the safety of autonomous vehicles and reducing traffic fatalities involving pedestrians. While numerous studies have focused on modeling interactions among pedestrians…

Pedestrian trajectory prediction is crucial for autonomous driving and robotics. While existing point-based and grid-based methods expose two main limitations: insufficiently modeling human motion dynamics, as they fail to balance local…

This paper jointly addresses three key limitations in conventional pedestrian trajectory forecasting: pedestrian perception errors, real-world data collection costs, and person ID annotation costs. We propose a novel framework, RealTraj,…

Trajectory planning for mobile robots in cluttered environments remains a major challenge due to narrow passages, where conventional methods often fail or generate suboptimal paths. To address this issue, we propose the adaptive trajectory…

Predicting the future trajectories of the traffic agents is a gordian technique in autonomous driving. However, trajectory prediction suffers from data imbalance in the prevalent datasets, and the tailed data is often more complicated and…

As a safety critical task, autonomous driving requires accurate predictions of road users' future trajectories for safe motion planning, particularly under challenging conditions. Yet, many recent deep learning methods suffer from a…

We present a novel trajectory prediction algorithm for pedestrians based on a personality-aware probabilistic feature map. This map is computed using a spatial query structure and each value represents the probability of the predicted…

Bridging the past to the future, connecting agents both spatially and temporally, lies at the core of the trajectory prediction task. Despite great efforts, it remains challenging to explicitly learn and predict latencies, i.e., response…