相关论文: MATRIX: Multi-Agent Trajectory Generation with Div…
This paper introduces MotionGlot, a model that can generate motion across multiple embodiments with different action dimensions, such as quadruped robots and human bodies. By leveraging the well-established training procedures commonly used…
Autonomous multi-agent systems such as hospital robots and package delivery drones often operate in highly uncertain environments and are expected to achieve complex temporal task objectives while ensuring safety. While learning-based…
Simulation-based testing has emerged as an essential tool for verifying and validating autonomous vehicles (AVs). However, contemporary methodologies, such as deterministic and imitation learning-based driver models, struggle to capture the…
Recent advances in world models have greatly enhanced interactive environment simulation. Existing methods mainly fall into two categories: (1) static world generation models, which construct 3D environments without active agents, and (2)…
Being able to safely operate for extended periods of time in dynamic environments is a critical capability for autonomous systems. This generally involves the prediction and understanding of motion patterns of dynamic entities, such as…
Target localization is a critical task for mobile sensors and has many applications. However, generating informative trajectories for these sensors is a challenging research problem. A common method uses information maps that estimate the…
Advances in learning-based trajectory prediction are enabled by large-scale datasets. However, in-depth analysis of such datasets is limited. Moreover, the evaluation of prediction models is limited to metrics averaged over all samples in…
Autonomous agents operating in public spaces must consider how their behaviors might affect the humans around them, even when not directly interacting with them. To this end, it is often beneficial to be predictable and appear naturalistic.…
Imitation learning from human demonstrations is an effective means to teach robots manipulation skills. But data acquisition is a major bottleneck in applying this paradigm more broadly, due to the amount of cost and human effort involved.…
Multi-agent navigation in dynamic environments is of great industrial value when deploying a large scale fleet of robot to real-world applications. This paper proposes a decentralized partially observable multi-agent path planning with…
Applying intelligent robot arms in dynamic uncertain environments (i.e., flexible production lines) remains challenging, which requires efficient algorithms for real time trajectory generation. The motion planning problem for robot…
The way humans interact with each other, including interpersonal distances, spatial configuration, and motion, varies significantly across different situations. To enable machines to understand such complex, context-dependent behaviors, it…
Simultaneous trajectory prediction for multiple heterogeneous traffic participants is essential for the safe and efficient operation of connected automated vehicles under complex driving situations in the real world. The multi-agent…
Data-driven simulation has become a favorable way to train and test autonomous driving algorithms. The idea of replacing the actual environment with a learned simulator has also been explored in model-based reinforcement learning in the…
Realistic scene-level multi-agent motion simulations are crucial for developing and evaluating self-driving algorithms. However, most existing works focus on generating trajectories for a certain single agent type, and typically ignore the…
Human trajectory data, which plays a crucial role in various applications such as crowd management and epidemic prevention, is challenging to obtain due to practical constraints and privacy concerns. In this context, synthetic human…
This work leverages Large Language Models (LLMs) to simulate human mobility, addressing challenges like high costs and privacy concerns in traditional models. Our hierarchical framework integrates persona generation, activity selection, and…
To coordinate actions with an interaction partner requires a constant exchange of sensorimotor signals. Humans acquire these skills in infancy and early childhood mostly by imitation learning and active engagement with a skilled partner.…
Motion behaviour is driven by several factors -- goals, presence and actions of neighbouring agents, social relations, physical and social norms, the environment with its variable characteristics, and further. Most factors are not directly…
Diffusion models have recently been successfully applied to a wide range of robotics applications for learning complex multi-modal behaviors from data. However, prior works have mostly been confined to single-robot and small-scale…