相关论文: ControlMTR: Control-Guided Motion Transformer with…

Predicting the motion of a driver's vehicle is crucial for advanced driving systems, enabling detection of potential risks towards shared control between the driver and automation systems. In this paper, we propose a variational neural…

Synthesizing controllable 6-DOF object manipulation trajectories in 3D environments is essential for enabling robots to interact with complex scenes, yet remains challenging due to the need for accurate spatial reasoning, physical…

Advanced perception and path planning are at the core for any self-driving vehicle. Autonomous vehicles need to understand the scene and intentions of other road users for safe motion planning. For urban use cases it is very important to…

Many modern robotics applications require robots to function autonomously in dynamic environments including other decision making agents, such as people or other robots. This calls for fast and scalable interactive motion planning. This…

Accurate prediction of human behavior is crucial for AI systems to effectively support real-world applications, such as autonomous robots anticipating and assisting with human tasks. Real-world scenarios frequently present challenges such…

For efficient and safe autonomous driving, it is essential that autonomous vehicles can predict the motion of other traffic agents. While highly accurate, current motion prediction models often impose significant challenges in terms of…

Multi-Object Tracking (MOT) is a critical problem in computer vision, essential for understanding how objects move and interact in videos. This field faces significant challenges such as occlusions and complex environmental dynamics,…

Vision-based trajectory prediction is an important task that supports safe and intelligent behaviours in autonomous systems. Many advanced approaches have been proposed over the years with improved spatial and temporal feature extraction.…

Navigating dense and dynamic environments poses a significant challenge for autonomous driving systems, owing to the intricate nature of multimodal interaction, wherein the actions of various traffic participants and the autonomous vehicle…

Accurate vehicle trajectory prediction is essential for ensuring safety and efficiency in fully autonomous driving systems. While existing methods primarily focus on modeling observed motion patterns and interactions with other vehicles,…

Assistive teleoperation enhances efficiency via shared control, yet inter-operator variability, stemming from diverse habits and expertise, induces highly heterogeneous trajectory distributions that undermine intent recognition stability.…

Autonomous driving technology is poised to transform transportation systems. However, achieving safe and accurate multi-task decision-making in complex scenarios, such as unsignalized intersections, remains a challenge for autonomous…

In this paper, we explore the application of the Decision Transformer, a decision-making algorithm based on the Generative Pre-trained Transformer (GPT) architecture, to multi-vehicle coordination at unsignalized intersections. We formulate…

We propose a predictive runtime monitoring framework that forecasts the distribution of future positions of mobile robots in order to detect and avoid impending property violations such as collisions with obstacles or other agents. Our…

Target detection and tracking provides crucial information for motion planning and decision making in autonomous driving. This paper proposes an online multi-object tracking (MOT) framework with tracking-by-detection for maneuvering…

Practical deployments of coordinated fleets of mobile robots in different environments have revealed the benefits of maintaining small distances between robots, especially as they move at higher speeds. However, this is counter-intuitive in…

Multi-camera tracking plays a pivotal role in various real-world applications. While end-to-end methods have gained significant interest in single-camera tracking, multi-camera tracking remains predominantly reliant on heuristic techniques.…

Uncertainty of environments has long been a difficult characteristic to handle, when performing real-world robot tasks. This is because the uncertainty produces unexpected observations that cannot be covered by manual scripting. Learning…

Generating controllable character animation from a reference image and motion guidance remains a challenging task due to the inherent difficulty of injecting appearance and motion cues into video diffusion models. Prior works often rely on…

We introduce RedMotion, a transformer model for motion prediction in self-driving vehicles that learns environment representations via redundancy reduction. Our first type of redundancy reduction is induced by an internal transformer…