相关论文: Generalized two-point visual control model of huma…

In this paper, we present a novel generalizable object pose estimation method to determine the object pose using only one RGB image. Unlike traditional approaches that rely on instance-level object pose estimation and necessitate extensive…

Effective control requires knowledge of the process dynamics to guide the system toward desired states. In many control applications this knowledge is expressed mathematically or through data-driven models, however, as complexity grows…

In this paper, we present Goal-GAN, an interpretable and end-to-end trainable model for human trajectory prediction. Inspired by human navigation, we model the task of trajectory prediction as an intuitive two-stage process: (i) goal…

Autonomous driving gained huge traction in recent years, due to its potential to change the way we commute. Much effort has been put into trying to estimate the state of a vehicle. Meanwhile, learning to forecast the state of a vehicle…

In this study, we leveraged Channel State Information (CSI), commonly utilized in WLAN communication, as training data to develop and evaluate five distinct machine learning models for recognizing human postures: standing, sitting, and…

Accurately predicting future behaviors of surrounding vehicles is an essential capability for autonomous vehicles in order to plan safe and feasible trajectories. The behaviors of others, however, are full of uncertainties. Both rational…

This article presents a state feedback control design strategy for the stabilization of a vehicle along a reference collision avoidance maneuver. The stabilization of the vehicle is achieved through a combination of steering, acceleration…

This paper develops a bias correction scheme for a multivariate normal model under a general parameterization. In the model, the mean vector and the covariance matrix share the same parameters. It includes many important regression models…

Machine learning for robot manipulation promises to unlock generalization to novel tasks and environments. But how should we measure the progress of these policies towards generalization? Evaluating and quantifying generalization is the…

The data-driven approach to robot control has been gathering pace rapidly, yet generalization to unseen task domains remains a critical challenge. We argue that the key to generalization is representations that are (i) rich enough to…

The use of learning-based methods for vehicle behavior prediction is a promising research topic. However, many publicly available data sets suffer from class distribution skews which limits learning performance if not addressed. This paper…

A new model-free setting and the corresponding "intelligent" P and PD controllers are employed for the longitudinal and lateral motions of a vehicle. This new approach has been developed and used in order to ensure simultaneously a best…

Modeling how human moves in the space is useful for policy-making in transportation, public safety, and public health. Human movements can be viewed as a dynamic process that human transits between states (\eg, locations) over time. In the…

We aim to detect the class and orientation of a vehicle by training a model with synthetic data. However, the distribution of the classes in the training data is imbalanced, and the model trained on the synthetic image is difficult to…

An inference method for Gaussian process augmented state-space models are presented. This class of grey-box models enables domain knowledge to be incorporated in the inference process to guarantee a minimum of performance, still they are…

Human drivers' control quality in the first seconds after a handover is critical to shared-driving safety; potentially unsafe steering or pedal inputs therefore require detection and correction by the automated vehicle's safety-fallback…

Stochastic filters for on-line state estimation are a core technology for autonomous systems. The performance of such filters is one of the key limiting factors to a system's capability. Both asymptotic behavior (e.g.,~for regular…

Understanding driver interactions is critical to designing autonomous vehicles to interoperate safely with human-driven cars. We consider the impact of these interactions on the policies drivers employ when navigating unsigned intersections…

Deep neural perception and control networks are likely to be a key component of self-driving vehicles. These models need to be explainable - they should provide easy-to-interpret rationales for their behavior - so that passengers, insurance…

We propose a model predictive control approach for autonomous vehicles that exploits learned Gaussian processes for predicting human driving behavior. The proposed approach employs the uncertainty about the GP's prediction to achieve…