相关论文: Generalized Trajectory Scoring for End-to-end Mult…

The goal of this paper is to develop a continuous optimization-based refinement of the reference trajectory to 'push it out' of the obstacle-occupied space in the global phase for Multi-rotor Aerial Vehicles in unknown environments. Our…

End-to-end autonomous driving (E2EAD) systems, which learn to predict future trajectories directly from sensor data, are fundamentally challenged by the inherent spatio-temporal imbalance of trajectory data. This imbalance creates a…

We tackle safe trajectory planning under Gaussian mixture model (GMM) uncertainty. Specifically, we use a GMM to model the multimodal behaviors of obstacles' uncertain states. Then, we develop a mixed-integer conic approximation to the…

Optimizing complex and high-dimensional black-box functions is ubiquitous in science and engineering fields. Unfortunately, the online evaluation of these functions is restricted due to time and safety constraints in most cases. In offline…

Trajectory optimization methods for motion planning attempt to generate trajectories that minimize a suitable objective function. Such methods efficiently find solutions even for high degree-of-freedom robots. However, a globally optimal…

Multi-object tracking (MOT) has traditionally focused on estimating trajectories of all objects in a video, without selectively reasoning about user-specified targets under semantic instructions. In this work, we introduce a query-driven…

This paper presents ARTEMIS, an end-to-end autonomous driving framework that combines autoregressive trajectory planning with Mixture-of-Experts (MoE). Traditional modular methods suffer from error propagation, while existing end-to-end…

Open-vocabulary panoptic reconstruction is essential for advanced robotics perception and simulation. However, existing methods based on 3D Gaussian Splatting (3DGS) often struggle to simultaneously achieve geometric accuracy, coherent…

Motion planning is a key aspect of robotics. A common approach to address motion planning problems is trajectory optimization. Trajectory optimization can represent the high-level behaviors of robots through mathematical formulations.…

Standard Model Predictive Control (MPC) or trajectory optimization approaches perform only a local search to solve a complex non-convex optimization problem. As a result, they cannot capture the multi-modal characteristic of human driving.…

Recent advances in multimodal large language models(MLLMs) have led to remarkable progress in visual grounding, enabling fine-grained cross-modal alignment between textual queries and image regions. However, transferring such capabilities…

This paper presents a global trajectory optimization framework for minimizing lap time in autonomous racing under uncertain vehicle dynamics. Optimizing the trajectory over the full racing horizon is computationally expensive, and tracking…

Trajectory prediction for surrounding agents is a challenging task in autonomous driving due to its inherent uncertainty and underlying multimodality. Unlike prevailing data-driven methods that primarily rely on supervised learning, in this…

Generative models have emerged as powerful tools for planning, with compositional approaches offering particular promise for modeling long-horizon task distributions by composing together local, modular generative models. This compositional…

Accurate prediction with multimodal data-encompassing tabular, textual, and visual inputs or outputs-is fundamental to advancing analytics in diverse application domains. Traditional approaches often struggle to integrate heterogeneous data…

The ability to predict multiple possible future positions of the ego-vehicle given the surrounding context while also estimating their probabilities is key to safe autonomous driving. Most of the current state-of-the-art Deep Learning…

With the proliferation of location-tracking technologies, massive volumes of trajectory data are continuously being collected. As a fundamental task in trajectory data mining, trajectory similarity computation plays a critical role in a…

Generalization remains one of the most important desiderata for robust robot learning systems. While recently proposed approaches show promise in generalization to novel objects, semantic concepts, or visual distribution shifts,…

This paper describes a novel algorithmic framework to minimize a finite-sum of functions available over a network of nodes. The proposed framework, that we call~\GTVR, is stochastic and decentralized, and thus is particularly suitable for…

Accurate uncertainty quantification is crucial for making reliable decisions in various supervised learning scenarios, particularly when dealing with complex, multimodal data such as images and text. Current approaches often face notable…