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

Motion prediction is among the most fundamental tasks in autonomous driving. Traditional methods of motion forecasting primarily encode vector information of maps and historical trajectory data of traffic participants, lacking a…

The design of a safe and reliable Autonomous Driving stack (ADS) is one of the most challenging tasks of our era. These ADS are expected to be driven in highly dynamic environments with full autonomy, and a reliability greater than human…

Algorithms for motion planning in unknown environments are generally limited in their ability to reason about the structure of the unobserved environment. As such, current methods generally navigate unknown environments by relying on…

Motion prediction of surrounding agents is an important task in context of autonomous driving since it is closely related to driver's safety. Vehicle Motion Prediction (VMP) track of Shifts Challenge focuses on developing models which are…

Critical for the coexistence of humans and robots in dynamic environments is the capability for agents to understand each other's actions, and anticipate their movements. This paper presents Stochastic Process Anticipatory Navigation…

Character animation in real-world scenarios necessitates a variety of constraints, such as trajectories, key-frames, interactions, etc. Existing methodologies typically treat single or a finite set of these constraint(s) as separate control…

Robots that navigate through human crowds need to be able to plan safe, efficient, and human predictable trajectories. This is a particularly challenging problem as it requires the robot to predict future human trajectories within a crowd…

Transfer learning is a conceptually-enticing paradigm in pursuit of truly intelligent embodied agents. The core concept -- reusing prior knowledge to learn in and from novel situations -- is successfully leveraged by humans to handle novel…

This paper addresses the theoretical foundations of pedestrian models for crowd dynamics. While the topic gains momentum, current models differ widely in their mathematical structure, even if we only consider continuous agent-based models.…

We focus on robot navigation in crowded environments. The challenge of predicting the motion of a crowd around a robot makes it hard to ensure human safety and comfort. Recent approaches often employ end-to-end techniques for robot control…

A core challenge for an agent learning to interact with the world is to predict how its actions affect objects in its environment. Many existing methods for learning the dynamics of physical interactions require labeled object information.…

To plan safe maneuvers and act with foresight, autonomous vehicles must be capable of accurately predicting the uncertain future. In the context of autonomous driving, deep neural networks have been successfully applied to learning…

In literature, scientists describe human mobility in a range of granularities by several different models. Using frameworks like MATSIM, VehiLux, or Sumo, they often derive individual human movement indicators in their most detail. However,…

In this paper we present a discussion of the basic aspects of the well-known problem of prediction and inference in physics, with specific attention to the role of models, the use of data and the application of recent developments in…

Trajectory forecasting is a widely-studied problem for autonomous navigation. However, existing benchmarks evaluate forecasting based on independent snapshots of trajectories, which are not representative of real-world applications that…

Mobile manipulators require coordinated control between navigation and manipulation to accomplish tasks. Typically, coordinated mobile manipulation behaviors have base navigation to approach the goal followed by arm manipulation to reach…

Vision-based trajectory prediction is an important task that supports safe and intelligent behaviours in autonomous systems. Many advanced approaches have been proposed over the years with improved spatial and temporal feature extraction.…

Forecasting a typical object's future motion is a critical task for interpreting and interacting with dynamic environments in computer vision. Event-based sensors, which could capture changes in the scene with exceptional temporal…

A commonly-used representation for motion prediction of actors is a sequence of waypoints (comprising positions and orientations) for each actor at discrete future time-points. While this approach is simple and flexible, it can exhibit…

Humanoid robots are machines built with an anthropomorphic shape. Despite decades of research into the subject, it is still challenging to tackle the robot locomotion problem from an algorithmic point of view. For example, these machines…