相关论文: RetroMotion: Retrocausal Motion Forecasting Models…

Pedestrian trajectory prediction remains a challenge for autonomous systems, particularly due to the intricate dynamics of social interactions. Accurate forecasting requires a comprehensive understanding not only of each pedestrian's…

Reasoning about human motion is a core component of modern human-robot interactive systems. In particular, one of the main uses of behavior prediction in autonomous systems is to inform robot motion planning and control. However, a majority…

Analyzing and forecasting trajectories of agents like pedestrians and cars in complex scenes has become more and more significant in many intelligent systems and applications. The diversity and uncertainty in socially interactive behaviors…

Wearable collaborative robots stand to assist human wearers who need fall prevention assistance or wear exoskeletons. Such a robot needs to be able to constantly adapt to the surrounding scene based on egocentric vision, and predict the ego…

Motion forecasting plays a crucial role in autonomous driving, with the aim of predicting the future reasonable motions of traffic agents. Most existing methods mainly model the historical interactions between agents and the environment,…

Probability models have been proposed in the literature to account for "intelligent" behavior in many contexts. In this paper, probability propagation is applied to model agent's motion in potentially complex scenarios that include goals…

Trajectory prediction is crucial for autonomous driving, enabling vehicles to navigate safely by anticipating the movements of surrounding road users. However, current deep learning models often lack trustworthiness as their predictions can…

We explore the probabilistic foundations of shared control in complex dynamic environments. In order to do this, we formulate shared control as a random process and describe the joint distribution that governs its behavior. For…

Long-term human trajectory prediction is a challenging yet critical task in robotics and autonomous systems. Prior work that studied how to predict accurate short-term human trajectories with only unimodal features often failed in long-term…

Learning to forecast trajectories of intelligent agents has caught much more attention recently. However, it remains a challenge to accurately account for agents' intentions and social behaviors when forecasting, and in particular, to…

Immersive rooms are increasingly popular augmented reality systems that support multi-agent interactions within a virtual world. However, despite extensive content creation and technological developments, insights about perceptually-driven…

Occluded traffic agents pose a significant challenge for autonomous vehicles, as hidden pedestrians or vehicles can appear unexpectedly, yet this problem remains understudied. Existing learning-based methods, while capable of inferring the…

Large collections of coupled, heterogeneous agents can manifest complex dynamical behavior presenting difficulties for simulation and analysis. However, if the collective dynamics lie on a low-dimensional manifold then the original…

We address multi-modal trajectory forecasting of agents in unknown scenes by formulating it as a planning problem. We present an approach consisting of three models; a goal prediction model to identify potential goals of the agent, an…

Many applications of imitation learning require the agent to generate the full distribution of behaviour observed in the training data. For example, to evaluate the safety of autonomous vehicles in simulation, accurate and diverse behaviour…

Often in prediction tasks, the predictive model itself can influence the distribution of the target variable, a phenomenon termed performative prediction. Generally, this influence stems from strategic actions taken by stakeholders with a…

In multiagent environments, several decision-making individuals interact while adhering to the dynamics constraints imposed by the environment. These interactions, combined with the potential stochasticity of the agents' decision-making…

Forecasting future trajectories of agents in complex traffic scenes requires reliable and efficient predictions for all agents in the scene. However, existing methods for trajectory prediction are either inefficient or sacrifice accuracy.…

Estimating the joint distribution of on-road agents' future trajectories is essential for autonomous driving. In this technical report, we propose a next-generation framework for joint multi-agent trajectory prediction called QCNeXt. First,…

In Argoverse motion forecasting competition, the task is to predict the probabilistic future trajectory distribution for the interested targets in the traffic scene. We use vectorized lane map and 2 s targets' history trajectories as input.…