相关论文: RetroMotion: Retrocausal Motion Forecasting Models…

Prediction of human motions is key for safe navigation of autonomous robots among humans. In cluttered environments, several motion hypotheses may exist for a pedestrian, due to its interactions with the environment and other pedestrians.…

Predicting the motion of a driver's vehicle is crucial for advanced driving systems, enabling detection of potential risks towards shared control between the driver and automation systems. In this paper, we propose a variational neural…

Behavior prediction plays an important role in integrated autonomous driving software solutions. In behavior prediction research, interactive behavior prediction is a less-explored area, compared to single-agent behavior prediction.…

An open problem in autonomous driving research is modeling human driving behavior, which is needed for the planning component of the autonomy stack, safety validation through traffic simulation, and causal inference for generating…

To safely and efficiently solve motion planning problems in multi-agent settings, most approaches attempt to solve a joint optimization that explicitly accounts for the responses triggered in other agents. This often results in solutions…

Trajectory prediction and planning are essential for autonomous vehicles to navigate safely and efficiently in dynamic environments. Traditional approaches often treat them separately, limiting the ability for interactive planning. While…

Multi-agent systems exhibit complex behaviors that emanate from the interactions of multiple agents in a shared environment. In this work, we are interested in controlling one agent in a multi-agent system and successfully learn to interact…

Predicting traffic agents' trajectories is an important task for auto-piloting. Most previous work on trajectory prediction only considers a single class of road agents. We use a sequence-to-sequence model to predict future paths from…

Accurate and robust recognition and prediction of traffic situation plays an important role in autonomous driving, which is a prerequisite for risk assessment and effective decision making. Although there exist a lot of works dealing with…

Accurate motion forecasting for traffic agents is crucial for ensuring the safety and efficiency of autonomous driving systems in dynamically changing environments. Mainstream methods adopt a one-query-one-trajectory paradigm, where each…

Advances in learning-based trajectory prediction are enabled by large-scale datasets. However, in-depth analysis of such datasets is limited. Moreover, the evaluation of prediction models is limited to metrics averaged over all samples in…

Trajectory prediction is crucial for autonomous driving as it aims to forecast the future movements of traffic participants. Traditional methods usually perform holistic inference on the trajectories of agents, neglecting the differences in…

In automated driving, predicting trajectories of surrounding vehicles supports reasoning about scene dynamics and enables safe planning for the ego vehicle. However, existing models handle predictions as an instantaneous task of forecasting…

Robots must make and break contact with the environment to perform useful tasks, but planning and control through contact remains a formidable challenge. In this work, we achieve real-time contact-implicit model predictive control with a…

Interactions between road agents present a significant challenge in trajectory prediction, especially in cases involving multiple agents. Because existing diversity-aware predictors do not account for the interactive nature of multi-agent…

In this paper, we address the problem of forecasting the trajectory of an egocentric camera wearer (ego-person) in crowded spaces. The trajectory forecasting ability learned from the data of different camera wearers walking around in the…

As robots across domains start collaborating with humans in shared environments, algorithms that enable them to reason over human intent are important to achieve safe interplay. In our work, we study human intent through the problem of…

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…

A longstanding challenge for self-driving development is simulating dynamic driving scenarios seeded from recorded driving logs. In pursuit of this functionality, we apply tools from discrete sequence modeling to model how vehicles,…

Predicting the motion of a mobile agent from a third-person perspective is an important component for many robotics applications, such as autonomous navigation and tracking. With accurate motion prediction of other agents, robots can plan…