相关论文: Training Trajectory Predictors Without Ground-Trut…

Forecasting the future trajectories of surrounding agents is crucial for autonomous vehicles to ensure safe, efficient, and comfortable route planning. While model ensembling has improved prediction accuracy in various fields, its…

Accurate prediction of surrounding road users' trajectories is essential for safe and efficient autonomous driving. While deep learning models have improved performance, challenges remain in preventing off-road predictions and ensuring…

Trajectory prediction aims to estimate an entity's future path using its current position and historical movement data, benefiting fields like autonomous navigation, robotics, and human movement analytics. Deep learning approaches have…

Trajectory and intention prediction of traffic participants is an important task in automated driving and crucial for safe interaction with the environment. In this paper, we present a new approach to vehicle trajectory prediction based on…

Trajectory planning in autonomous driving is highly dependent on predicting the emergent behavior of other road users. Learning-based methods are currently showing impressive results in simulation-based challenges, with transformer-based…

The challenge of traversability estimation is a crucial aspect of autonomous navigation in unstructured outdoor environments such as forests. It involves determining whether certain areas are passable or risky for robots, taking into…

Occlusion is a long-standing problem that causes many modern tracking methods to be erroneous. In this paper, we address the occlusion problem by exploiting the current and future possible locations of the target object from its past…

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…

This paper presents an approach to trajectory-centric learning control based on contraction metrics and disturbance estimation for nonlinear systems subject to matched uncertainties. The approach uses deep neural networks to learn uncertain…

For efficient and safe autonomous driving, it is essential that autonomous vehicles can predict the motion of other traffic agents. While highly accurate, current motion prediction models often impose significant challenges in terms of…

Precise pick-and-place is essential in robotic applications. To this end, we define a novel exact training method and an iterative inference method that improve pick-and-place precision with Transporter Networks. We conduct a large scale…

Recent research demonstrate that prediction of time series by predictive recurrent neural networks based on the noisy input generates a smooth anticipated trajectory. We examine influence of the noise component in both the training data…

Reliable anticipation of pedestrian trajectory is imperative for the operation of autonomous vehicles and can significantly enhance the functionality of advanced driver assistance systems. While significant progress has been made in the…

Sophisticated trajectory prediction models that effectively mimic team dynamics have many potential uses for sports coaches, broadcasters and spectators. However, through experiments on soccer data we found that it can be surprisingly…

In this paper, we introduce a novel method to capture visual trajectories for navigating an indoor robot in dynamic settings using streaming image data. First, an image processing pipeline is proposed to accurately segment trajectories from…

Time-optimal trajectories drive quadrotors to their dynamic limits, but computing such trajectories involves solving non-convex problems via iterative nonlinear optimization, making them prohibitively costly for real-time applications. In…

Anticipating the motion of other road users is crucial for automated driving systems (ADS), as it enables safe and informed downstream decision-making and motion planning. Unfortunately, contemporary learning-based approaches for motion…

Trajectory prediction is an important task that involves modeling the indeterminate nature of traffic actors to forecast future trajectories given the observed trajectory sequences. However, current methods confine themselves to presumed…

Autonomous systems, like vehicles or robots, require reliable, accurate, fast, resource-efficient, scalable, and low-latency trajectory predictions to get initial knowledge about future locations and movements of surrounding objects for…

Optimization based tracking methods have been widely successful by integrating a target model prediction module, providing effective global reasoning by minimizing an objective function. While this inductive bias integrates valuable domain…