相关论文: TrajGPT: Controlled Synthetic Trajectory Generatio…
This paper explores and assesses in what ways generative AI can assist in translating survey instruments. Writing effective survey questions is a challenging and complex task, made even more difficult for surveys that will be translated and…
Trajectory planning is a fundamental problem in robotics. It facilitates a wide range of applications in navigation and motion planning, control, and multi-agent coordination. Trajectory planning is a difficult problem due to its…
Task-oriented grasping (TOG) refers to the problem of predicting grasps on an object that enable subsequent manipulation tasks. To model the complex relationships between objects, tasks, and grasps, existing methods incorporate semantic…
Robust data association is critical for analysis of long-term motion trajectories in complex scenes. In its absence, trajectory precision suffers due to periods of kinematic ambiguity degrading the quality of follow-on analysis. Common…
Trajectory prediction and generation are crucial for autonomous robots in dynamic environments. While prior research has typically focused on either prediction or generation, our approach unifies these tasks to provide a versatile framework…
The creation of plausible and controllable 3D human motion animations is a long-standing problem that requires a manual intervention of skilled artists. Current machine learning approaches can semi-automate the process, however, they are…
In this paper, we create optimal, collision-free, time-dependent trajectories through cluttered dynamic environments. The many spatial and temporal constraints make finding an initial guess for a numerical solver difficult. Graphs of Convex…
Large language models(LLMS)have shown excellent text generation capabilities, capable of generating fluent human-like responses for many downstream tasks. However, applying large language models to real-world critical tasks remains…
Path planning in a changing environment is a challenging task in robotics, as moving objects impose time-dependent constraints. Recent planning methods primarily focus on the spatial aspects, lacking the capability to directly incorporate…
Timely accurate traffic forecast is crucial for urban traffic control and guidance. Due to the high nonlinearity and complexity of traffic flow, traditional methods cannot satisfy the requirements of mid-and-long term prediction tasks and…
Planning is a critical component of end-to-end autonomous driving. However, prevailing imitation learning methods often suffer from mode collapse, failing to produce diverse trajectory hypotheses. Meanwhile, existing generative approaches…
Extracting temporal relations (e.g., before, after, and simultaneous) among events is crucial to natural language understanding. One of the key challenges of this problem is that when the events of interest are far away in text, the context…
Large language models such as ChatGPT have the potential to revolutionize the construction industry by automating repetitive and time-consuming tasks. This paper presents a study in which ChatGPT was used to generate a construction schedule…
Real-time network traffic forecasting is crucial for network management and early resource allocation. Existing network traffic forecasting approaches operate under the assumption that the network traffic data is fully observed. However, in…
In this paper, we extend a famous motion planning approach GPMP2 to multi-robot cases, yielding a novel centralized trajectory generation method for the multi-robot formation. A sparse Gaussian Process model is employed to represent the…
Nowadays, our mobility systems are evolving into the era of intelligent vehicles that aim to improve road safety. Due to their vulnerability, pedestrians are the users who will benefit the most from these developments. However, predicting…
Robotic manipulation is often specified through language instructions or task identifiers, yet cluttered environments with similar objects are better handled by spatially indicating what to move and where to place it. Addressing the…
Many real-world tasks are plagued by limitations on data: in some instances very little data is available and in others, data is protected by privacy enforcing regulations (e.g. GDPR). We consider limitations posed specifically on…
The advent of large language models, enabling flexibility through instruction-driven approaches, has revolutionized many traditional generative tasks, but large models for 3D data, particularly in comprehensively handling 3D shapes with…
Effective understanding of the environment and accurate trajectory prediction of surrounding dynamic obstacles are critical for intelligent systems such as autonomous vehicles and wheeled mobile robotics navigating in complex scenarios to…