相关论文: Tra-MoE: Learning Trajectory Prediction Model from…

Trajectory prediction is a challenging problem that requires considering interactions among multiple actors and the surrounding environment. While data-driven approaches have been used to address this complex problem, they suffer from…

Multi-agent trajectory prediction is crucial for various practical applications, spurring the construction of many large-scale trajectory datasets, including vehicles and pedestrians. However, discrepancies exist among datasets due to…

It is doubtful that animals have perfect inverse models of their limbs (e.g., what muscle contraction must be applied to every joint to reach a particular location in space). However, in robot control, moving an arm's end-effector to a…

As power systems transition toward renewable-rich and inverter-dominated operations, accurate time-domain dynamic analysis becomes increasingly critical. Such analysis supports key operational tasks, including transient stability…

We introduce Masked Trajectory Models (MTM) as a generic abstraction for sequential decision making. MTM takes a trajectory, such as a state-action sequence, and aims to reconstruct the trajectory conditioned on random subsets of the same…

Robot gait optimization is the task of generating an optimal control trajectory under various internal and external constraints. Given the high dimensions of control space, this problem is particularly challenging for multi-legged robots…

Predicting the future trajectories of nearby objects plays a pivotal role in Robotics and Automation such as autonomous driving. While learning-based trajectory prediction methods have achieved remarkable performance on public benchmarks,…

Deep learning-based trajectory prediction models for autonomous driving often struggle with generalization to out-of-distribution (OOD) scenarios, sometimes performing worse than simple rule-based models. To address this limitation, we…

Motivated by the increasing availability of vehicle trajectory data, we propose learn-to-route, a comprehensive trajectory-based routing solution. Specifically, we first construct a graph-like structure from trajectories as the routing…

Accumulating substantial volumes of real-world driving data proves pivotal in the realm of trajectory forecasting for autonomous driving. Given the heavy reliance of current trajectory forecasting models on data-driven methodologies, we aim…

We propose a unified framework for adaptive routing in multitask, multimodal prediction settings where data heterogeneity and task interactions vary across samples. Motivated by applications in psychotherapy where structured assessments and…

Trajectory optimization methods have achieved an exceptional level of performance on real-world robots in recent years. These methods heavily rely on accurate analytical models of the dynamics, yet some aspects of the physical world can…

The inherently diverse and uncertain nature of trajectories presents a formidable challenge in accurately modeling them. Motion prediction systems must effectively learn spatial and temporal information from the past to forecast the future…

Sparse Mixture-of-Experts (MoE) architectures enable efficient scaling of large language models through conditional computation, yet the routing mechanisms responsible for expert selection remain poorly understood. In this work, we…

Model-based controllers on real robots require accurate knowledge of the system dynamics to perform optimally. For complex dynamics, first-principles modeling is not sufficiently precise, and data-driven approaches can be leveraged to learn…

Effective trajectory generation is essential for reliable on-board spacecraft autonomy. Among other approaches, learning-based warm-starting represents an appealing paradigm for solving the trajectory generation problem, effectively…

The computational cost associated with high-fidelity CFD simulations remains a significant bottleneck in the automotive design and optimization cycle. While ML-based surrogate models have emerged as a promising alternative to accelerate…

While pre-trained large models have achieved state-of-the-art performance in network traffic analysis, their prohibitive computational costs hinder deployment in real-time, throughput-sensitive network defense environments. This work…

Trajectory generation has recently drawn growing interest in privacy-preserving urban mobility studies and location-based service applications. Although many studies have used deep learning or generative AI methods to model trajectories and…

The feasibility of collecting a large amount of expert demonstrations has inspired growing research interests in learning-to-drive settings, where models learn by imitating the driving behaviour from experts. However, exclusively relying on…