相关论文: MGF: Mixed Gaussian Flow for Diverse Trajectory Pr…

Diffusion models approximate the denoising distribution as a Gaussian and predict its mean, whereas flow matching models reparameterize the Gaussian mean as flow velocity. However, they underperform in few-step sampling due to…

Deep Gaussian processes (DGPs), a hierarchical composition of GP models, have successfully boosted the expressive power of their single-layer counterpart. However, it is impossible to perform exact inference in DGPs, which has motivated the…

The future motion of traffic participants is inherently uncertain. To plan safely, therefore, an autonomous agent must take into account multiple possible trajectory outcomes and prioritize them. Recently, this problem has been addressed…

Human trajectory forecasting requires capturing the multimodal nature of pedestrian behavior. However, existing approaches suffer from prior misalignment. Their learned or fixed priors often fail to capture the full distribution of…

Existing generative models for time series forecasting often transform simple priors (typically Gaussian) into complex data distributions. However, their sampling initialization, independent of historical data, hinders the capture of…

Forecasting complex vehicle and pedestrian multi-modal distributions requires powerful probabilistic approaches. Normalizing flows (NF) have recently emerged as an attractive tool to model such distributions. However, a key drawback is that…

Despite the success of classical traffic flow (e.g., second-order macroscopic) models and data-driven (e.g., Machine Learning - ML) approaches in traffic state estimation, those approaches either require great efforts for parameter…

Recent advancements in generative modeling, particularly diffusion models, have opened new directions for time series modeling, achieving state-of-the-art performance in forecasting and synthesis. However, the reliance of diffusion-based…

Joint pedestrian trajectory prediction has long grappled with the inherent unpredictability of human behaviors. Recent investigations employing variants of conditional diffusion models in trajectory prediction have exhibited notable…

The pedestrian trajectory prediction task is an essential component of intelligent systems. Its applications include but are not limited to autonomous driving, robot navigation, and anomaly detection of monitoring systems. Due to the…

Flow matching has emerged as a powerful generative modeling approach with flexible choices of source distribution. While Gaussian distributions are commonly used, the potential for better alternatives in high-dimensional data generation…

Open-set supervised anomaly detection (OSAD) aims to identify unseen anomalies using limited anomalous supervision. However, existing prototype-based methods typically model normal data via a unimodal Gaussian prior, failing to capture…

Efficient and accurate motion prediction is crucial for ensuring safety and informed decision-making in autonomous driving, particularly under dynamic real-world conditions that necessitate multi-modal forecasts. We introduce TrajFlow, a…

Accurate trajectory prediction is critical for safe autonomous navigation in crowded environments. While many trajectory predictors output Gaussian distributions to represent the multi-modal distribution over future pedestrian positions,…

Continued great efforts have been dedicated towards high-quality trajectory generation based on optimization methods, however, most of them do not suitably and effectively consider the situation with moving obstacles; and more particularly,…

We propose a class of structured diffusion models, in which the prior distribution is chosen as a mixture of Gaussians, rather than a standard Gaussian distribution. The specific mixed Gaussian distribution, as prior, can be chosen to…

Accurate traffic Flow Prediction can assist in traffic management, route planning, and congestion mitigation, which holds significant importance in enhancing the efficiency and reliability of intelligent transportation systems (ITS).…

Flow matching (FM) learns vector fields by regressing stochastic velocity targets along intermediate distributions $p_t$. We identify a geometric optimization bottleneck in this regression problem: when the covariance $\Sigma_t$ of $p_t$ is…

Predicting the future behavior of human road users is an important aspect for the development of risk-aware autonomous vehicles. While many models have been developed towards this end, effectively capturing and predicting the variability…

Diffusion models and their variations, such as rectified flows, generate diverse and high-quality images, but they are still hindered by slow iterative sampling caused by the highly curved generative paths they learn. An important cause of…