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

The use of random sampling in decision-making and control has become popular with the ease of access to graphic processing units that can generate and calculate multiple random trajectories for real-time robotic applications. In contrast to…

Model-based reinforcement learning methods often use learning only for the purpose of estimating an approximate dynamics model, offloading the rest of the decision-making work to classical trajectory optimizers. While conceptually simple,…

The ability to predict multiple possible future positions of the ego-vehicle given the surrounding context while also estimating their probabilities is key to safe autonomous driving. Most of the current state-of-the-art Deep Learning…

We present a new method for multi-modal, long-term vehicle trajectory prediction. Our approach relies on using lane centerlines captured in rich maps of the environment to generate a set of proposed goal paths for each vehicle. Using these…

Representing diverse and plausible future trajectories is critical for motion forecasting in autonomous driving. However, efficiently capturing these trajectories in a compact set remains challenging. This study introduces a novel approach…

In this paper we show an effective means of integrating data driven frameworks to sampling based optimal control to vastly reduce the compute time for easy adoption and adaptation to real time applications such as on-road autonomous driving…

Trajectory optimization under uncertainty underpins a wide range of applications in robotics. However, existing methods are limited in terms of reasoning about sources of epistemic and aleatoric uncertainty, space and time correlations,…

Importance sampling of trajectories has proved a uniquely successful strategy for exploring rare dynamical behaviors of complex systems in an unbiased way. Carrying out this sampling, however, requires an ability to propose changes to…

Accurate trajectory prediction has long been a major challenge for autonomous driving (AD). Traditional data-driven models predominantly rely on statistical correlations, often overlooking the causal relationships that govern traffic…

Trajectory prediction is an essential step in the pipeline of an autonomous vehicle. Inaccurate or inconsistent predictions regarding the movement of agents in its surroundings lead to poorly planned maneuvers and potentially dangerous…

Predicting the motion of a driver's vehicle is crucial for advanced driving systems, enabling detection of potential risks towards shared control between the driver and automation systems. In this paper, we propose a variational neural…

Subsampling methods aim to select a subsample as a surrogate for the observed sample. Such methods have been used pervasively in large-scale data analytics, active learning, and privacy-preserving analysis in recent decades. Instead of…

Trajectory prediction and planning are essential for autonomous vehicles to navigate safely and efficiently in dynamic environments. Traditional approaches often treat them separately, limiting the ability for interactive planning. While…

Efficient and accurate motion prediction is crucial for ensuring safety and informed decision-making in autonomous driving, particularly under dynamic real-world conditions that necessitate multi-modal forecasts. We introduce TrajFlow, a…

Accurate prediction of future agent trajectories is a critical challenge for ensuring safe and efficient autonomous navigation, particularly in complex urban environments characterized by multiple plausible future scenarios. In this paper,…

Motion prediction is a critical part of self-driving technology, responsible for inferring future behavior of traffic actors in autonomous vehicle's surroundings. In order to ensure safe and efficient operations, prediction models need to…

Sampling-based methods are widely adopted solutions for robot motion planning. The methods are straightforward to implement, effective in practice for many robotic systems. It is often possible to prove that they have desirable properties,…

We present an evaluation of several representative sampling-based and optimization-based motion planners, and then introduce an integrated motion planning system which incorporates recent advances in trajectory optimization into a sparse…

Past research on pedestrian trajectory forecasting mainly focused on deterministic predictions which provide only point estimates of future states. These future estimates can help an autonomous vehicle plan its trajectory and avoid…

This work explores the application of ensemble modeling to the multidimensional regression problem of trajectory prediction for vehicles in urban environments. As newer and bigger state-of-the-art prediction models for autonomous driving…