相关论文: SMART: Scalable Multi-agent Real-time Motion Gener…

Current validation methods often rely on recorded data and basic functional checks, which may not be sufficient to encompass the scenarios an autonomous vehicle might encounter. In addition, there is a growing need for complex scenarios…

Recent advancements in assured autonomy have brought autonomous vehicles (AVs) closer to fruition. Despite strong evidence that multi-sensor, multi-agent (MSMA) systems can yield substantial improvements in the safety and security of AVs,…

Many data-driven decision problems are formulated using a nominal distribution estimated from historical data, while performance is ultimately determined by a deployment distribution that may be shifted, context-dependent, partially…

Long-tail motion forecasting is a core challenge for autonomous driving, where rare yet safety-critical events-such as abrupt maneuvers and dense multi-agent interactions-dominate real-world risk. Existing approaches struggle in these…

Self-driving vehicles rely on multimodal motion forecasts to effectively interact with their environment and plan safe maneuvers. We introduce SceneMotion, an attention-based model for forecasting scene-wide motion modes of multiple traffic…

While previous approaches to 3D human motion generation have achieved notable success, they often rely on extensive training and are limited to specific tasks. To address these challenges, we introduce Motion-Agent, an efficient…

For a mobile robot to be truly autonomous, it must solve the simultaneous localization and mapping (SLAM) problem. We develop a new metaheuristic algorithm called Simulated Tom Thumb (STT), based on the detailed adventure of the clever Tom…

The advancement of Large Language Models (LLMs) has significantly boosted performance in natural language processing (NLP) tasks. However, the deployment of high-performance LLMs incurs substantial costs, primarily due to the increased…

Extending the capabilities of Large Language Models (LLMs) with functions or tools for environment interaction has led to the emergence of the agent paradigm. In industry, training an LLM is not always feasible because of the scarcity of…

The general linear model (GLM) is a well established tool for analyzing functional magnetic resonance imaging (fMRI) data. Most fMRI analyses via GLM proceed in a massively univariate fashion where the same design matrix is used for…

End-to-end autonomous driving has received increasing attention due to its potential to learn from large amounts of data. However, most existing methods are still open-loop and suffer from weak scalability, lack of high-order interactions,…

Training intelligent agents that can drive autonomously in various urban and highway scenarios has been a hot topic in the robotics society within the last decades. However, the diversity of driving environments in terms of road topology…

In this work, we introduce SMART-LLM, an innovative framework designed for embodied multi-robot task planning. SMART-LLM: Smart Multi-Agent Robot Task Planning using Large Language Models (LLMs), harnesses the power of LLMs to convert…

Predicting the future behavior of moving agents is essential for real world applications. It is challenging as the intent of the agent and the corresponding behavior is unknown and intrinsically multimodal. Our key insight is that for…

Predicting future sensory states is crucial for learning agents such as robots, drones, and autonomous vehicles. In this paper, we couple multiple sensory modalities with exploratory actions and propose a predictive neural network…

Recent text-to-image (T2I) models have made remarkable progress in generating visually realistic and semantically coherent images. However, they still suffer from randomness and inconsistency with the given prompts, particularly when…

Human motion generation is a significant pursuit in generative computer vision with widespread applications in film-making, video games, AR/VR, and human-robot interaction. Current methods mainly utilize either diffusion-based generative…

Multi-Agent Pickup and Delivery (MAPD) is a fundamental problem in robotics, particularly in applications such as warehouse automation and logistics. Existing solutions often face challenges in scalability, adaptability, and efficiency,…

We propose the use of latent space generative world models to address the covariate shift problem in autonomous driving. A world model is a neural network capable of predicting an agent's next state given past states and actions. By…

Modeling human mobility is vital for extensive applications such as transportation planning and epidemic modeling. With the rise of the Artificial Intelligence Generated Content (AIGC) paradigm, recent works explore synthetic trajectory…