相关论文: SingularTrajectory: Universal Trajectory Predictor…

Trajectory generation for mobile robots in unstructured environments faces a critical dilemma: balancing kinematic smoothness for safe execution with terminal precision for fine-grained tasks. Existing generative planners often struggle…

Multi-agent trajectory modeling has primarily focused on forecasting future states, often overlooking broader tasks like trajectory completion, which are crucial for real-world applications such as correcting tracking data. Existing methods…

Predicting pedestrian motion trajectories is critical for the path planning and motion control of autonomous vehicles. Recent diffusion-based models have shown promising results in capturing the inherent stochasticity of pedestrian behavior…

Stochastic models of diffusion are routinely used to study dispersal of populations, including populations of animals, plants, seeds and cells. Advances in imaging and field measurement technologies mean that data are often collected across…

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…

Trajectory modeling refers to characterizing human movement behavior, serving as a pivotal step in understanding mobility patterns. Nevertheless, existing studies typically ignore the confounding effects of geospatial context, leading to…

Multi-agent trajectory modeling traditionally focuses on forecasting, often neglecting more general tasks like trajectory completion, which is essential for real-world applications such as correcting tracking data. Existing methods also…

This paper presents a data driven universal ball trajectory prediction method integrated with physics equations. Existing methods are designed for specific ball types and struggle to generalize. This challenge arises from three key factors.…

Human motion prediction combines the tasks of trajectory forecasting and human pose prediction. For each of the two tasks, specialized models have been developed. Combining these models for holistic human motion prediction is non-trivial,…

Multi-fingered hands are emerging as powerful platforms for performing fine manipulation tasks, including tool use. However, environmental perturbations or execution errors can impede task performance, motivating the use of recovery…

The diffusion model has shown success in generating high-quality and diverse solutions to trajectory optimization problems. However, diffusion models with neural networks inevitably make prediction errors, which leads to constraint…

Human motion prediction, i.e., forecasting future body poses given observed pose sequence, has typically been tackled with recurrent neural networks (RNNs). However, as evidenced by prior work, the resulted RNN models suffer from prediction…

Multi-agent trajectory prediction, as a critical task in modeling complex interactions of objects in dynamic systems, has attracted significant research attention in recent years. Despite the promising advances, existing studies all follow…

Safe swarm navigation in cluttered indoor environment requires long-horizon planning, reactive obstacle avoidance, and adaptive compliance. We propose ImpedanceDiffusion, a hierarchical framework that leverages image-conditioned…

In the real world, trajectory data is often sparse and incomplete due to low collection frequencies or limited device coverage. Trajectory recovery aims to recover these missing trajectory points, making the trajectories denser and more…

Deep generative models have made rapid progress in image, text, audio, and video generation, and are increasingly being applied to structured records. For tabular data, however, generative modeling remains difficult: a dataset may contain…

Recent advances in diffusion models have achieved remarkable success in isolated computer vision tasks such as text-to-image generation, depth estimation, and optical flow. However, these models are often restricted by a…

Trajectory prediction aims to estimate an entity's future path using its current position and historical movement data, benefiting fields like autonomous navigation, robotics, and human movement analytics. Deep learning approaches have…

Single-particle traces of the diffusive motion of molecules, cells, or animals are by-now routinely measured, similar to stochastic records of stock prices or weather data. Deciphering the stochastic mechanism behind the recorded dynamics…

We present a novel end-to-end diffusion-based trajectory generation method, DTG, for mapless global navigation in challenging outdoor scenarios with occlusions and unstructured off-road features like grass, buildings, bushes, etc. Given a…