相关论文: Motion Forecasting via Model-Based Risk Minimizati…

Road user trajectory prediction in dynamic environments is a challenging but crucial task for various applications, such as autonomous driving. One of the main challenges in this domain is the multimodal nature of future trajectories…

Motion planning at urban intersections that accounts for the situation context, handles occlusions, and deals with measurement and prediction uncertainty is a major challenge on the way to urban automated driving. In this work, we address…

Recent years have seen a shift towards learning-based methods for trajectory prediction, with challenges remaining in addressing uncertainty and capturing multi-modal distributions. This paper introduces Temporal Ensembling with…

Alongside optimization-based planners, sampling-based approaches are often used in trajectory planning for autonomous driving due to their simplicity. Model predictive path integral control is a framework that builds upon optimization…

Predicting the future motion of vehicles has been studied using various techniques, including stochastic policies, generative models, and regression. Recent work has shown that classification over a trajectory set, which approximates…

Control of machine learning models has emerged as an important paradigm for a broad range of robotics applications. In this paper, we present a sampling-based nonlinear model predictive control (NMPC) approach for control of neural network…

We present an optimization-based method to plan the motion of an autonomous robot under the uncertainties associated with dynamic obstacles, such as humans. Our method bounds the marginal risk of collisions at each point in time by…

Sampling-based motion planning is an effective tool to compute safe trajectories for automated vehicles in complex environments. However, a fast convergence to the optimal solution can only be ensured with the use of problem-specific…

The goal of autonomous vehicles is to navigate public roads safely and comfortably. To enforce safety, traditional planning approaches rely on handcrafted rules to generate trajectories. Machine learning-based systems, on the other hand,…

We propose a sampling-based trajectory optimization methodology for constrained problems. We extend recent works on stochastic search to deal with box control constraints,as well as nonlinear state constraints for discrete dynamical…

Predicting future behavior of other traffic participants is an essential task that needs to be solved by automated vehicles and human drivers alike to achieve safe and situationaware driving. Modern approaches to vehicles trajectory…

Trajectory sampling in the Frenet(road-aligned) frame, is one of the most popular methods for motion planning of autonomous vehicles. It operates by sampling a set of behavioural inputs, such as lane offset and forward speed, before solving…

Trajectory prediction, the task of forecasting future agent behavior from past data, is central to safe and efficient autonomous driving. A diverse set of methods (e.g., rule-based or learned with different architectures and datasets) have…

Among the most prevalent motion planning techniques, sampling and trajectory optimization have emerged successful due to their ability to handle tight constraints and high-dimensional systems, respectively. However, limitations in sampling…

Trajectory and intention prediction of traffic participants is an important task in automated driving and crucial for safe interaction with the environment. In this paper, we present a new approach to vehicle trajectory prediction based on…

Model Predictive Control lacks the ability to escape local minima in nonconvex problems. Furthermore, in fast-changing, uncertain environments, the conventional warmstart, using the optimal trajectory from the last timestep, often falls…

For autonomous agents to successfully operate in the real world, anticipation of future events and states of their environment is a key competence. This problem can be formalized as a sequence prediction problem, where a number of…

The indeterminate nature of human motion requires trajectory prediction systems to use a probabilistic model to formulate the multi-modality phenomenon and infer a finite set of future trajectories. However, the inference processes of most…

Trajectory prediction is an important task, especially in autonomous driving. The ability to forecast the position of other moving agents can yield to an effective planning, ensuring safety for the autonomous vehicle as well for the…

We introduce a simple but effective method for managing risk in model-based reinforcement learning with trajectory sampling that involves probabilistic safety constraints and balancing of optimism in the face of epistemic uncertainty and…