相关论文: Quantifying Uncertainty in Motion Prediction with …

Predicting the future trajectory of agents from visual observations is an important problem for realization of safe and effective navigation of autonomous systems in dynamic environments. This paper focuses on two important aspects of…

In recent years, the field of machine learning has made phenomenal progress in the pursuit of simulating real-world data generation processes. One notable example of such success is the variational autoencoder (VAE). In this work, with a…

In this paper, we show how uncertainty estimation can be leveraged to enable safety critical image segmentation in autonomous driving, by triggering a fallback behavior if a target accuracy cannot be guaranteed. We introduce a new…

Reliable prediction of vehicle trajectories at signalized intersections is crucial to urban traffic management and autonomous driving systems. However, it presents unique challenges, due to the complex roadway layout at intersections,…

Autonomous vehicles require accurate and reliable short-term trajectory predictions for safe and efficient driving. While most commercial automated vehicles currently use state machine-based algorithms for trajectory forecasting, recent…

Accurate and uncertainty-aware trajectory prediction remains a core challenge for autonomous driving, driven by complex multi-agent interactions, diverse scene contexts and the inherently stochastic nature of future motion. Diffusion-based…

Accurate pedestrian trajectory prediction is crucial for autonomous systems operating in complex environments, such as modular buses and delivery robots in suburban or semi-structured areas. Social Spatio-Temporal Graph Convolutional Neural…

Predicting future trajectories of surrounding traffic agents is critical for safe autonomous navigation and collision avoidance. Despite all advances in the trajectory forecasting realm, the prediction models remains vulnerable to…

We present and test a sequential learning algorithm for the short-term prediction of human mobility. This novel approach pairs the Exponential Weights forecaster with a very large ensemble of experts. The experts are individual sequence…

Current evaluation methods for autonomous driving prediction models rely heavily on simplistic metrics such as Average Displacement Error (ADE) and Final Displacement Error (FDE). While these metrics offer basic performance assessments,…

Accurate trajectory prediction is crucial for autonomous driving, yet uncertainty in agent behavior and perception noise makes it inherently challenging. While multi-modal trajectory prediction models generate multiple plausible future…

Past research on pedestrian trajectory forecasting mainly focused on deterministic predictions which provide only point estimates of future states. These future estimates can help an autonomous vehicle plan its trajectory and avoid…

Predicting pedestrian movement is critical for human behavior analysis and also for safe and efficient human-agent interactions. However, despite significant advancements, it is still challenging for existing approaches to capture the…

One of the key challenges for autonomous vehicles is the ability to accurately predict the motion of other objects in the surrounding environment, such as pedestrians or other vehicles. In this contribution, a novel motion forecasting…

In multi-modal multi-agent trajectory forecasting, two major challenges have not been fully tackled: 1) how to measure the uncertainty brought by the interaction module that causes correlations among the predicted trajectories of multiple…

Variability in human response creates non-trivial challenges for modeling and control of human-automation systems. As autonomy becomes pervasive, methods that can accommodate human variability will become paramount, to ensure efficiency,…

Long-term human trajectory prediction is a challenging yet critical task in robotics and autonomous systems. Prior work that studied how to predict accurate short-term human trajectories with only unimodal features often failed in long-term…

The task of motion forecasting is critical for self-driving vehicles (SDVs) to be able to plan a safe maneuver. Towards this goal, modern approaches reason about the map, the agents' past trajectories and their interactions in order to…

By observing their environment as well as other traffic participants, humans are enabled to drive road vehicles safely. Vehicle passengers, however, perceive a notable difference between non-experienced and experienced drivers. In…

In-flight objects capture is extremely challenging. The robot is required to complete trajectory prediction, interception position calculation and motion planning in sequence within tens of milliseconds. As in-flight uneven objects are…