相关论文: Annealed Winner-Takes-All for Motion Forecasting

The performance of learned robot visuomotor policies is heavily dependent on the size and quality of the training dataset. Although large-scale robot and human datasets are increasingly available, embodiment gaps and mismatched action…

We present a computational framework for synthesis of distributed control strategies for a heterogeneous team of robots in a partially observable environment. The goal is to cooperatively satisfy specifications given as Truncated Linear…

Trajectory prediction has garnered widespread attention in different fields, such as autonomous driving and robotic navigation. However, due to the significant variations in trajectory patterns across different scenarios, models trained in…

The safe deployment of autonomous driving (AD) systems is fundamentally hindered by the long-tail problem, where rare yet critical driving scenarios are severely underrepresented in real-world data. Existing solutions including…

Reinforcement learning (RL) can refine Vision-Language-Action (VLA) policies beyond behavior cloning, but real-world RL remains expensive due to extensive rollouts, resets, supervision, and safety risks. Action-conditioned video world…

Multi-robot systems are increasingly deployed in applications, such as intralogistics or autonomous delivery, where multiple robots collaborate to complete tasks efficiently. One of the key factors enabling their efficient cooperation is…

Ensembling is one approach that improves the performance of a neural network by combining a number of independent neural networks, usually by either averaging or summing up their individual outputs. We modify this ensembling approach by…

Predicting the trajectories of surrounding agents is still considered one of the most challenging tasks for autonomous driving. In this paper, we introduce a multi-modal trajectory prediction framework based on the transformer network. The…

Multi-task learning (MTL) has recently contributed to learning better representations in service of various NLP tasks. MTL aims at improving the performance of a primary task, by jointly training on a secondary task. This paper introduces…

The goal of this thesis is to design a learning model predictive controller (LMPC) that allows multiple agents to race competitively on a predefined race track in real-time. This thesis addresses two major shortcomings in the already…

Autonomous driving systems require a comprehensive understanding of the environment, achieved by extracting visual features essential for perception, planning, and control. However, models trained solely on single-task objectives or generic…

Robust motion forecasting of the dynamic scene is a critical component of an autonomous vehicle. It is a challenging problem due to the heterogeneity in the scene and the inherent uncertainties in the problem. To improve the accuracy of…

In this work, we present a novel approach to bias the driving style of an artificial race driver (ARD) for online time-optimal trajectory planning. Our method leverages a nonlinear model predictive control (MPC) framework that combines time…

Vision-based trajectory prediction is an important task that supports safe and intelligent behaviours in autonomous systems. Many advanced approaches have been proposed over the years with improved spatial and temporal feature extraction.…

Recent advancements in LLMs have revolutionized motion generation models in embodied applications. While LLM-type auto-regressive motion generation models benefit from training scalability, there remains a discrepancy between their token…

Predicting multiple plausible future trajectories of the nearby vehicles is crucial for the safety of autonomous driving. Recent motion prediction approaches attempt to achieve such multimodal motion prediction by implicitly regularizing…

Autonomous vehicles require accurate and reliable short-term trajectory predictions for safe and efficient driving. While most commercial automated vehicles currently use state machine-based algorithms for trajectory forecasting, recent…

A robot's deployment environment often involves perceptual changes that differ from what it has experienced during training. Standard practices such as data augmentation attempt to bridge this gap by augmenting source images in an effort to…

In future 6G networks, dependable networks will enable telecommunication services such as remote control of robots or vehicles with strict requirements on end-to-end network performance in terms of delay, delay variation, tail…

Compared to humans, machine learning models generally require significantly more training examples and fail to extrapolate from experience to solve previously unseen challenges. To help close this performance gap, we augment single-task…