相关论文: SingularTrajectory: Universal Trajectory Predictor…

In order to study transport in complex environments, it is extremely important to determine the physical mechanism underlying diffusion, and precisely characterize its nature and parameters. Often, this task is strongly impacted by data…

While data-driven trajectory prediction has enhanced the reliability of autonomous driving systems, it still struggles with rarely observed long-tail scenarios. Prior works addressed this by modifying model architectures, such as using…

Sophisticated trajectory prediction models that effectively mimic team dynamics have many potential uses for sports coaches, broadcasters and spectators. However, through experiments on soccer data we found that it can be surprisingly…

Trajectory computing is a pivotal domain encompassing trajectory data management and mining, garnering widespread attention due to its crucial role in various practical applications such as location services, urban traffic, and public…

The typical multi-task learning methods for spatio-temporal data prediction involve low-rank tensor computation. However, such a method have relatively weak performance when the task number is small, and we cannot integrate it into…

Sampling-based model predictive controllers generate trajectories by sampling control inputs from a fixed, simple distribution such as the normal or uniform distributions. This sampling method yields trajectory samples that are tightly…

Diffusion-based and iterative methods have become effective tools for solving imaging inverse problems. Their reconstruction process naturally forms a trajectory of intermediate estimates. Although these intermediate estimates define a…

End-to-end backpropagation requires storing activations throughout all layers, creating memory bottlenecks that limit model scalability. Existing block-wise training methods offer means to alleviate this problem, but they rely on ad-hoc…

Trajectory prediction has always been a challenging problem for autonomous driving, since it needs to infer the latent intention from the behaviors and interactions from traffic participants. This problem is intrinsically hard, because each…

The performance of optimization-based robot motion planning algorithms is highly dependent on the initial solutions, commonly obtained by running a sampling-based planner to obtain a collision-free path. However, these methods can be slow…

Perception and prediction modules are critical components of autonomous driving systems, enabling vehicles to navigate safely through complex environments. The perception module is responsible for perceiving the environment, including…

Safe and successful deployment of robots requires not only the ability to generate complex plans but also the capacity to frequently replan and correct execution errors. This paper addresses the challenge of long-horizon trajectory planning…

Some mobile sensor network applications require the sensor nodes to transfer their trajectories to a data sink. This paper proposes an adaptive trajectory (lossy) compression algorithm based on compressive sensing. The algorithm has two…

Diffusion planners have shown promise in handling long-horizon and sparse-reward tasks due to the non-autoregressive plan generation. However, their inherent stochastic risk of generating infeasible trajectories presents significant…

Automated parking is a critical feature of Advanced Driver Assistance Systems (ADAS), where accurate trajectory prediction is essential to bridge perception and planning modules. Despite its significance, research in this domain remains…

We present a concise derivation for several influential score-based diffusion models that relies on only a few textbook results. Diffusion models have recently emerged as powerful tools for generating realistic, synthetic signals --…

Trajectory analysis is essential in many applications. In this paper, we address the problem of representing motion trajectories in a highly informative way, and consequently utilize it for analyzing trajectories. Our approach first…

Bimanual manipulation is crucial in robotics, enabling complex tasks in industrial automation and household services. However, it poses significant challenges due to the high-dimensional action space and intricate coordination requirements.…

Motivated by the problem of pursuit-evasion, we present a motion planning framework that combines energy-based diffusion models with artificial potential fields for robust real time trajectory generation in complex environments. Our…

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…