相关论文: Holistic Semantic Representation for Navigational …

Data driven methods for time series forecasting that quantify uncertainty open new important possibilities for robot tasks with hard real time constraints, allowing the robot system to make decisions that trade off between reaction time and…

Realistic trajectory generation with natural language control is pivotal for advancing autonomous vehicle technology. However, previous methods focus on individual traffic participant trajectory generation, thus failing to account for the…

This work presents a mapless global navigation approach for outdoor applications. It combines the exploratory capacity of conditional variational autoencoders (CVAEs) to generate trajectories and the semantic segmentation capabilities of a…

Trajectory representation learning (TRL) maps trajectories to vectors that can then be used for various downstream tasks, including trajectory similarity computation, trajectory classification, and travel-time estimation. However, existing…

Multimodal intent recognition aims to infer human intents by jointly modeling various modalities, playing a pivotal role in real-world dialogue systems. However, current methods struggle to model hierarchical semantics underlying complex…

Generating high-fidelity full-body human interactions with dynamic objects and static scenes remains a critical challenge in computer graphics and animation. Existing methods for human-object interaction often neglect scene context, leading…

Understanding human instructions and accomplishing Vision-Language Navigation tasks in unknown environments is essential for robots. However, existing modular approaches heavily rely on the quality of training data and often exhibit poor…

Representation learning of pedestrian trajectories transforms variable-length timestamp-coordinate tuples of a trajectory into a fixed-length vector representation that summarizes spatiotemporal characteristics. It is a crucial technique to…

Generative models have significantly improved the generation and prediction quality on either camera images or LiDAR point clouds for autonomous driving. However, a real-world autonomous driving system uses multiple kinds of input modality,…

We propose a unified deep learning framework for the generation and analysis of driving scenario trajectories, and validate its effectiveness in a principled way. To model and generate scenarios of trajectories with different lengths, we…

Semantic scene understanding is crucial for robotics and computer vision applications. In autonomous driving, 3D semantic segmentation plays an important role for enabling safe navigation. Despite significant advances in the field, the…

Simulating the human mobility and generating large-scale trajectories are of great use in many real-world applications, such as urban planning, epidemic spreading analysis, and geographic privacy protect. Although many previous works have…

Semantic trajectories are high level representations of user movements where several aspects related to the movement context are represented as heterogeneous textual labels. With the objective of finding a meaningful similarity measure for…

In the near future, more and more machines will perform tasks in the vicinity of human spaces or support them directly in their spatially bound activities. In order to simplify the verbal communication and the interaction between robotic…

Trajectory representation learning on a network enhances our understanding of vehicular traffic patterns and benefits numerous downstream applications. Existing approaches using classic machine learning or deep learning embed trajectories…

Recent advances in pixel-level tasks (e.g. segmentation) illustrate the benefit of of long-range interactions between aggregated region-based representations that can enhance local features. However, such aggregated representations, often…

We present a multi-modal trajectory generation and selection algorithm for real-world mapless outdoor navigation in human-centered environments. Such environments contain rich features like crosswalks, grass, and curbs, which are easily…

In this work, we take a representation learning perspective on hierarchical reinforcement learning, where the problem of learning lower layers in a hierarchy is transformed into the problem of learning trajectory-level generative models. We…

The retrieval phase is a vital component in recommendation systems, requiring the model to be effective and efficient. Recently, generative retrieval has become an emerging paradigm for document retrieval, showing notable performance. These…

Lane segment topology reasoning constructs a comprehensive road network by capturing the topological relationships between lane segments and their semantic types. This enables end-to-end autonomous driving systems to perform road-dependent…