相关论文: Certified Human Trajectory Prediction

This study provides a detailed analysis of current advancements in dynamic object tracking (DOT) and trajectory prediction (TP) methodologies, including their applications and challenges. It covers various approaches, such as feature-based,…

Real-time safety metrics are important for the automated driving system (ADS) to assess the risk of driving situations and to assist the decision-making. Although a number of real-time safety metrics have been proposed in the literature,…

Benchmarking is a common method for evaluating trajectory prediction models for autonomous driving. Existing benchmarks rely on datasets, which are biased towards more common scenarios, such as cruising, and distance-based metrics that are…

This paper proposes a new robust trajectory tracking error-based control approach for unmanned ground vehicles. A trajectory tracking error-based model is used to design a linear model predictive controller and its control action is…

Diffusion models have become popular for policy learning in robotics due to their ability to capture high-dimensional and multimodal distributions. However, diffusion policies are stochastic and typically trained offline, limiting their…

Adversarial training instances can severely distort a model's behavior. This work investigates certified regression defenses, which provide guaranteed limits on how much a regressor's prediction may change under a poisoning attack. Our key…

The ability to predict the future movements of other vehicles is a subconscious and effortless skill for humans and key to safe autonomous driving. Therefore, trajectory prediction for autonomous cars has gained a lot of attention in recent…

The exploration of high-speed movement by robots or road traffic agents is crucial for autonomous driving and navigation. Trajectory prediction at high speeds requires considering historical features and interactions with surrounding…

Trajectory prediction is fundamental in computer vision and autonomous driving, particularly for understanding pedestrian behavior and enabling proactive decision-making. Existing approaches in this field often assume precise and complete…

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…

Although an ever-growing number of applications employ deep learning based systems for prediction, decision-making, or state estimation, almost no certification processes have been established that would allow such systems to be deployed in…

To plan a safe and efficient route, an autonomous vehicle should anticipate future motions of other agents around it. Motion prediction is an extremely challenging task which recently gained significant attention of the research community.…

Crowd trajectory prediction plays a crucial role in public safety and management, where it can help prevent disasters such as stampedes. Recent works address the problem by predicting individual trajectories and considering surrounding…

Accurately predicting the trajectory of vehicles is critically important for ensuring safety and reliability in autonomous driving. Although considerable research efforts have been made recently, the inherent trajectory uncertainty caused…

We introduce a method for generating realistic pedestrian trajectories and full-body animations that can be controlled to meet user-defined goals. We draw on recent advances in guided diffusion modeling to achieve test-time controllability…

Human trajectory data is crucial in urban planning, traffic engineering, and public health. However, directly using real-world trajectory data often faces challenges such as privacy concerns, data acquisition costs, and data quality. A…

Trajectory prediction is crucial to advance autonomous driving, improving safety, and efficiency. Although end-to-end models based on deep learning have great potential, they often do not consider vehicle dynamic limitations, leading to…

This paper introduces TopoDiffuser, a diffusion-based framework for multimodal trajectory prediction that incorporates topometric maps to generate accurate, diverse, and road-compliant future motion forecasts. By embedding structural cues…

We propose a model predictive control approach for autonomous vehicles that exploits learned Gaussian processes for predicting human driving behavior. The proposed approach employs the uncertainty about the GP's prediction to achieve…

In recent years, there is a shift from modeling the tracking problem based on Bayesian formulation towards using deep neural networks. Towards this end, in this paper the effectiveness of various deep neural networks for predicting future…