相关论文: Improving Transferability for Cross-domain Traject…

We develop a new continuous-time stochastic gradient descent method for optimizing over the stationary distribution of stochastic differential equation (SDE) models. The algorithm continuously updates the SDE model's parameters using an…

We propose to predict the future trajectories of observed agents (e.g., pedestrians or vehicles) by estimating and using their goals at multiple time scales. We argue that the goal of a moving agent may change over time, and modeling goals…

The ability to predict the future trajectories of traffic participants is crucial for the safe and efficient operation of autonomous vehicles. In this paper, a diffusion-based generative model for multi-agent trajectory prediction is…

Learning from multiple domains is a primary factor that influences the generalization of a single unified robot system. In this paper, we aim to learn the trajectory prediction model by using broad out-of-domain data to improve its…

Neural Ordinary Differential Equations (NODEs) have proven successful in learning dynamical systems in terms of accurately recovering the observed trajectories. While different types of sparsity have been proposed to improve robustness, the…

Diffusion-based generative models use stochastic differential equations (SDEs) and their equivalent ordinary differential equations (ODEs) to establish a smooth connection between a complex data distribution and a tractable prior…

Modern data analytics take advantage of ensemble learning and transfer learning approaches to tackle some of the most relevant issues in data analysis, such as lack of labeled data to use to train the analysis models, sparsity of the…

Predicting the future trajectories of surrounding vehicles based on their history trajectories is a critical task in autonomous driving. However, when small crafted perturbations are introduced to those history trajectories, the resulting…

Long-horizon motion forecasting for multiple autonomous robots is challenging due to non-linear agent interactions, compounding prediction errors, and continuous-time evolution of dynamics. Learned dynamics of such a system can be useful in…

Learning time-dependent partial differential equations (PDEs) that govern evolutionary observations is one of the core challenges for data-driven inference in many fields. In this work, we propose to capture the essential dynamics of…

Prior arts in the field of motion predictions for autonomous driving tend to focus on finding a trajectory that is close to the ground truth trajectory. Such problem formulations and approaches, however, frequently lead to loss of diversity…

Due to effective pattern mining and feature representation, neural forecasting models based on deep learning have achieved great progress. The premise of effective learning is to collect sufficient data. However, in time series forecasting,…

Forecasting future trajectories of agents in complex traffic scenes requires reliable and efficient predictions for all agents in the scene. However, existing methods for trajectory prediction are either inefficient or sacrifice accuracy.…

Although neural networks have seen tremendous success as predictive models in a variety of domains, they can be overly confident in their predictions on out-of-distribution (OOD) data. To be viable for safety-critical applications, like…

Sparsity is a common issue in many trajectory datasets, including human mobility data. This issue frequently brings more difficulty to relevant learning tasks, such as trajectory imputation and prediction. Nowadays, little existing work…

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…

We present MotionDiffuser, a diffusion based representation for the joint distribution of future trajectories over multiple agents. Such representation has several key advantages: first, our model learns a highly multimodal distribution…

Diffusion models excel at creating images and videos thanks to their multimodal generative capabilities. These same capabilities have made diffusion models increasingly popular in robotics research, where they are used for generating robot…

Physical models with uncertain inputs are commonly represented as parametric partial differential equations (PDEs). That is, PDEs with inputs that are expressed as functions of parameters with an associated probability distribution.…

The reconstruction and inference of stochastic dynamical systems from data is a fundamental task in inverse problems and statistical learning. While surrogate modeling advances computational methods to approximate these dynamics, standard…