相关论文: Interpretable Interaction Modeling for Trajectory …
Motion planning for autonomous robots in tight, interaction-rich, and mixed human-robot environments is challenging. State-of-the-art methods typically separate prediction and planning, predicting other agents' trajectories first and then…
Interactive traffic simulation is crucial to autonomous driving systems by enabling testing for planners in a more scalable and safe way compared to real-world road testing. Existing approaches learn an agent model from large-scale driving…
In this paper, we tackle the problem of detecting objects in 3D and forecasting their future motion in the context of self-driving. Towards this goal, we design a novel approach that explicitly takes into account the interactions between…
Multi-agent interactions are important to model for forecasting other agents' behaviors and trajectories. At a certain time, to forecast a reasonable future trajectory, each agent needs to pay attention to the interactions with only a small…
Work in cognitive science and artificial intelligence has suggested that exposing learning agents to traces of interaction between multiple individuals can improve performance in a variety of settings, yet it remains unknown which features…
This paper proposes joint attention estimation in a single image. Different from related work in which only the gaze-related attributes of people are independently employed, (I) their locations and actions are also employed as contextual…
Trajectory forecasting, or trajectory prediction, of multiple interacting agents in dynamic scenes, is an important problem for many applications, such as robotic systems and autonomous driving. The problem is a great challenge because of…
This paper develops a new approach for estimating an interpretable, relational model of a black-box autonomous agent that can plan and act. Our main contributions are a new paradigm for estimating such models using a minimal query interface…
Modeling multi-agent systems requires understanding how agents interact. Such systems are often difficult to model because they can involve a variety of types of interactions that layer together to drive rich social behavioral dynamics.…
Autonomous vehicles that operate in urban environments shall comply with existing rules and reason about the interactions with other decision-making agents. In this paper, we introduce a decentralized and communication-free…
Autonomous vehicles operating in complex real-world environments require accurate predictions of interactive behaviors between traffic participants. This paper tackles the interaction prediction problem by formulating it with hierarchical…
Dynamical complex systems composed of interactive heterogeneous agents are prevalent in the world, including urban traffic systems and social networks. Modeling the interactions among agents is the key to understanding and predicting the…
Autonomous vehicles (AVs) must share the driving space with other drivers and often employ conservative motion planning strategies to ensure safety. These conservative strategies can negatively impact AV's performance and significantly slow…
Safely interacting with other traffic participants is one of the core requirements for autonomous driving, especially in intersections and occlusions. Most existing approaches are designed for particular scenarios and require significant…
Active perception approaches select future viewpoints by using some estimate of the information gain. An inaccurate estimate can be detrimental in critical situations, e.g., locating a person in distress. However the true information gained…
Forecasting future trajectories of agents in complex traffic scenes requires reliable and efficient predictions for all agents in the scene. However, existing methods for trajectory prediction are either inefficient or sacrifice accuracy.…
Inferring the laws of interaction between particles and agents in complex dynamical systems from observational data is a fundamental challenge in a wide variety of disciplines. We propose a non-parametric statistical learning approach to…
We address the problem of learning representations from observations of a scene involving an agent and an external object the agent interacts with. To this end, we propose a representation learning framework extracting the location in…
Particle dynamics and multi-agent systems provide accurate dynamical models for studying and forecasting the behavior of complex interacting systems. They often take the form of a high-dimensional system of differential equations…
Short Term object-interaction Anticipation consists in detecting the location of the next active objects, the noun and verb categories of the interaction, as well as the time to contact from the observation of egocentric video. This ability…