相关论文: Trends in Motion Prediction Toward Deployable and …

Human motion generation aims to generate natural human pose sequences and shows immense potential for real-world applications. Substantial progress has been made recently in motion data collection technologies and generation methods, laying…

Predicting future trajectories is critical in autonomous navigation, especially in preventing accidents involving humans, where a predictive agent's ability to anticipate in advance is of utmost importance. Trajectory forecasting models,…

Creating autonomous robots that can actively explore the environment, acquire knowledge and learn skills continuously is the ultimate achievement envisioned in cognitive and developmental robotics. Their learning processes should be based…

Pedestrian motion prediction is a key part of the modular-based autonomous driving pipeline, ensuring safe, accurate, and timely awareness of human agents' possible future trajectories. The autonomous vehicle can use this information to…

With the emergence of powerful data-driven methods in human trajectory prediction (HTP), gaining a finer understanding of multi-agent interactions lies within hand's reach, with important implications in areas such as social robot…

Learning and inference movement is a very challenging problem due to its high dimensionality and dependency to varied environments or tasks. In this paper, we propose an effective probabilistic method for learning and inference of basic…

Contextual features are important data sources for building citywide crowd mobility prediction models. However, the difficulty of applying context lies in the unknown generalizability of contextual features (e.g., weather, holiday, and…

Human movement is goal-directed and influenced by the spatial layout of the objects in the scene. To plan future human motion, it is crucial to perceive the environment -- imagine how hard it is to navigate a new room with lights off.…

Recently, world models have been incorporated into the autonomous driving systems to improve the planning reliability. Existing approaches typically predict future states through appearance generation or deterministic regression, which…

This dissertation considers Open-world Robot Manipulation, a manipulation problem where a robot must generalize or quickly adapt to new objects, scenes, or tasks for which it has not been pre-programmed or pre-trained. This dissertation…

Mimicking human ability to forecast future positions or interpret complex interactions in urban scenarios, such as streets, shopping malls or squares, is essential to develop socially compliant robots or self-driving cars. Autonomous…

Crowd navigation has received increasing attention from researchers over the last few decades, resulting in the emergence of numerous approaches aimed at addressing this problem to date. Our proposed approach couples agent motion prediction…

A major challenge to deploying robots widely is navigation in human-populated environments, commonly referred to as social robot navigation. While the field of social navigation has advanced tremendously in recent years, the fair evaluation…

In this paper, we address the problem of predicting the future motion of a dynamic agent (called a target agent) given its current and past states as well as the information on its environment. It is paramount to develop a prediction model…

Trajectory prediction is one of the key components of the autonomous driving software stack. Accurate prediction for the future movement of surrounding traffic participants is an important prerequisite for ensuring the driving efficiency…

Everyday locomotion is a complex sensorimotor process that can unfold over multiple timescales, from long-term path planning to rapid, reactive adjustments. However, we lack an understanding of how factors such as environmental demands, or…

Efficient and accurate motion prediction is crucial for ensuring safety and informed decision-making in autonomous driving, particularly under dynamic real-world conditions that necessitate multi-modal forecasts. We introduce TrajFlow, a…

Motion forecasting for on-road traffic agents presents both a significant challenge and a critical necessity for ensuring safety in autonomous driving systems. In contrast to most existing data-driven approaches that directly predict future…

Human motion prediction is a classical problem in computer vision and computer graphics, which has a wide range of practical applications. Previous effects achieve great empirical performance based on an encoding-decoding style. The methods…

As the embodiment gap between a robot and a human narrows, new opportunities arise to leverage datasets of humans interacting with their surroundings for robot learning. We propose a novel technique for training sensorimotor policies with…