相关论文: Evaluating Human Trajectory Prediction with Metamo…

Context: Predicting human trajectories is crucial for the safety and reliability of autonomous systems, such as automated vehicles and mobile robots. However, rigorously testing the underlying multimodal Human Trajectory Prediction (HTP)…

Forecasting human trajectories in complex dynamic environments plays a critical role in autonomous vehicles and intelligent robots. Most existing methods learn to predict future trajectories by behavior clues from history trajectories and…

Human trajectory prediction has received increased attention lately due to its importance in applications such as autonomous vehicles and indoor robots. However, most existing methods make predictions based on human-labeled trajectories and…

With growing numbers of intelligent autonomous systems in human environments, the ability of such systems to perceive, understand and anticipate human behavior becomes increasingly important. Specifically, predicting future positions of…

One major challenge for the adoption and acceptance of automated vehicles (AVs) is ensuring that they can make sound decisions in everyday situations that involve ethical tension. Much attention has focused on rare, high-stakes dilemmas…

Software testing is difficult to automate, especially in programs which have no oracle, or method of determining which output is correct. Metamorphic testing is a solution this problem. Metamorphic testing uses metamorphic relations to…

In order to safely operate around humans, robots can employ predictive models of human motion. Unfortunately, these models cannot capture the full complexity of human behavior and necessarily introduce simplifying assumptions. As a result,…

Autonomous systems, like vehicles or robots, require reliable, accurate, fast, resource-efficient, scalable, and low-latency trajectory predictions to get initial knowledge about future locations and movements of surrounding objects for…

In order to develop provably safe human-in-the-loop systems, accurate and precise models of human behavior must be developed. In the case of intelligent vehicles, one can imagine the need for predicting driver behavior to develop minimally…

Metamorphic testing has proven to be effective for test case generation and fault detection in many domains. It is a software testing strategy that uses certain relations between input-output pairs of a program, referred to as metamorphic…

Human behavior has the nature of indeterminacy, which requires the pedestrian trajectory prediction system to model the multi-modality of future motion states. Unlike existing stochastic trajectory prediction methods which usually use a…

Trajectory forecasting has become a popular deep learning task due to its relevance for scenario simulation for autonomous driving. Specifically, trajectory forecasting predicts the trajectory of a short-horizon future for specific human…

Predicting human trajectories is essential for the safe operation of autonomous vehicles, yet current data-driven models often lack robustness in case of noisy inputs such as adversarial examples or imperfect observations. Although some…

Human behavior modeling is important for the design and implementation of human-automation interactive control systems. In this context, human behavior refers to a human's control input to systems. We propose a novel method for human…

Individual-level human mobility prediction has emerged as a significant topic of research with applications in infectious disease monitoring, child, and elderly care. Existing studies predominantly focus on the microscopic aspects of human…

Metamorphic testing is a testing method for problems without test oracles. Integration testing allows for detecting errors in complex systems that may not be found during the testing of their components. In this paper, we propose a novel…

This work develops a novel trajectory planner for human-robot handovers. The handover requirements can naturally be handled by a path-following-based model predictive controller, where the path progress serves as a progress measure of the…

Trajectory Prediction of dynamic objects is a widely studied topic in the field of artificial intelligence. Thanks to a large number of applications like predicting abnormal events, navigation system for the blind, etc. there have been many…

Human motion prediction is a stochastic process: Given an observed sequence of poses, multiple future motions are plausible. Existing approaches to modeling this stochasticity typically combine a random noise vector with information about…

Robot navigation around humans can be a challenging problem since human movements are hard to predict. Stochastic model predictive control (MPC) can account for such uncertainties and approximately bound the probability of a collision to…