相关论文: DeMo++: Motion Decoupling for Autonomous Driving

Current autonomous driving systems often struggle to balance decision-making and motion control while ensuring safety and traffic rule compliance, especially in complex urban environments. Existing methods may fall short due to separate…

Interactive applications demand believable characters that respond naturally to dynamic environments. Traditional character animation techniques often struggle to handle arbitrary situations, leading to a growing trend of dynamically…

Autonomous driving demands reliable and efficient solutions to closely related problems such as decision-making and motion planning. In this work, decision-making refers specifically to highway lane selection, while motion planning involves…

Human motion prediction combines the tasks of trajectory forecasting and human pose prediction. For each of the two tasks, specialized models have been developed. Combining these models for holistic human motion prediction is non-trivial,…

Robot manipulators operating in uncertain and non-convex environments present significant challenges for safe and optimal motion planning. Existing methods often struggle to provide efficient and formally certified collision risk…

Current optical flow and point-tracking methods rely heavily on synthetic datasets. Event cameras are novel vision sensors with advantages in challenging visual conditions, but state-of-the-art frame-based methods cannot be easily adapted…

Representing diverse and plausible future trajectories is critical for motion forecasting in autonomous driving. However, efficiently capturing these trajectories in a compact set remains challenging. This study introduces a novel approach…

Motion prediction (MP) of multiple agents is a crucial task in arbitrarily complex environments, from social robots to self-driving cars. Current approaches tackle this problem using end-to-end networks, where the input data is usually a…

Recent video diffusion models generate photorealistic, temporally coherent videos, yet they fall short as reliable world models for autonomous driving, where structured motion and physically consistent interactions are essential. Adapting…

This work presents UNO, a unified monocular visual odometry framework that enables robust and adaptable pose estimation across diverse environments, platforms, and motion patterns. Unlike traditional methods that rely on deployment-specific…

We propose a meta-ability decoupling (MAD) paradigm, which brings together various object navigation methods in an architecture system, allowing them to mutually enhance each other and evolve together. Based on the MAD paradigm, we design a…

In this paper, we develop an uncertainty-aware decision-making and motion-planning method for an autonomous ego vehicle in forced merging scenarios, considering the motion uncertainty of surrounding vehicles. The method dynamically captures…

Spatio-temporal forecasting is a critical component of various smart city applications, such as transportation optimization, energy management, and socio-economic analysis. Recently, several automated spatio-temporal forecasting methods…

Trajectory prediction is a fundamental technology for advanced autonomous driving systems and represents one of the most challenging problems in the field of cognitive intelligence. Accurately predicting the future trajectories of each…

This paper introduces a new algorithm for trajectory optimization, Decoupled Reduced-space and Adaptive Feasibility-repair Trajectory Optimization (DRAFTO). It first constructs a constrained objective that accounts for smoothness, safety,…

We present the design of a motion planning algorithm that ensures safety for an autonomous vehicle. In particular, we consider a multimodal distribution over uncertainties; for example, the uncertain predictions of future trajectories of…

Mobile traffic forecasting allows operators to anticipate network dynamics and performance in advance, offering substantial potential for enhancing service quality and improving user experience. However, existing models are often…

Multi-agent motion prediction is challenging because it aims to foresee the future trajectories of multiple agents (\textit{e.g.} pedestrians) simultaneously in a complicated scene. Existing work addressed this challenge by either learning…

Most state-of-the-art works in trajectory forecasting for automotive target predicting the pose and orientation of the agents in the scene. This represents a particularly useful problem, for instance in autonomous driving, but it does not…

We introduce a motion forecasting (behavior prediction) method that meets the latency requirements for autonomous driving in dense urban environments without sacrificing accuracy. A whole-scene sparse input representation allows StopNet to…