相关论文: Poly-Autoregressive Prediction for Modeling Intera…

The scarcity of manipulation data has motivated the use of pretrained large models from other modalities in robotics. In this work, we build upon autoregressive video generation models to propose a Physical Autoregressive Model (PAR), where…

Combinatorial optimization problems involving multiple agents are notoriously challenging due to their NP-hard nature and the necessity for effective agent coordination. Despite advancements in learning-based methods, existing approaches…

Predicting the behaviors of other road users is crucial to safe and intelligent decision-making for autonomous vehicles (AVs). However, most motion prediction models ignore the influence of the AV's actions and the planning module has to…

We present a new interaction mechanism of prediction and planning for end-to-end autonomous driving, called PPAD (Iterative Interaction of Prediction and Planning Autonomous Driving), which considers the timestep-wise interaction to better…

For autonomous vehicles (AVs) to behave appropriately on roads populated by human-driven vehicles, they must be able to reason about the uncertain intentions and decisions of other drivers from rich perceptual information. Towards these…

A Poisson autoregressive (PAR) model accounting for discreteness and autocorrelation of count time series data is typically estimated in the state-space modelling framework through extended Kalman filter. However, because of the complex…

First-person hand-object interaction anticipation aims to predict the interaction process over a forthcoming period based on current scenes and prompts. This capability is crucial for embodied intelligence and human-robot collaboration. The…

Learning an agent model that behaves like humans-capable of jointly perceiving the environment, predicting the future, and taking actions from a first-person perspective-is a fundamental challenge in computer vision. Existing methods…

For autonomous agents to successfully operate in real world, the ability to anticipate future motions of surrounding entities in the scene can greatly enhance their safety levels since potentially dangerous situations could be avoided in…

We study multi-agent reinforcement learning (MARL) for tasks in complex high-dimensional environments, such as autonomous driving. MARL is known to suffer from the \textit{partial observability} and \textit{non-stationarity} issues. To…

In order to enable high-quality decision making and motion planning of intelligent systems such as robotics and autonomous vehicles, accurate probabilistic predictions for surrounding interactive objects is a crucial prerequisite. Although…

Accurate motion prediction of pedestrians, cyclists, and other surrounding vehicles (all called agents) is very important for autonomous driving. Most existing works capture map information through an one-stage interaction with map by…

In autonomous driving (AD), accurately predicting changes in the environment can effectively improve safety and comfort. Due to complex interactions among traffic participants, however, it is very hard to achieve accurate prediction for a…

Predicting the motion of multiple agents is necessary for planning in dynamic environments. This task is challenging for autonomous driving since agents (e.g. vehicles and pedestrians) and their associated behaviors may be diverse and…

Predicting future locations of agents in the scene is an important problem in self-driving. In recent years, there has been a significant progress in representing the scene and the agents in it. The interactions of agents with the scene and…

For efficient human-agent interaction, an agent should proactively recognize their target user and prepare for upcoming interactions. We formulate this challenging problem as the novel task of jointly forecasting a person's intent to…

Modeling agent behavior is central to understanding the emergence of complex phenomena in multiagent systems. Prior work in agent modeling has largely been task-specific and driven by hand-engineering domain-specific prior knowledge. We…

Predicting the behaviors of other agents on the road is critical for autonomous driving to ensure safety and efficiency. However, the challenging part is how to represent the social interactions between agents and output different possible…

Human pose forecasting garners attention for its diverse applications. However, challenges in modeling the multi-modal nature of human motion and intricate interactions among agents persist, particularly with longer timescales and more…

Multi-agent reinforcement learning (MARL) provides an efficient way for simultaneously learning policies for multiple agents interacting with each other. However, in scenarios requiring complex interactions, existing algorithms can suffer…