相关论文: AGMA: Adaptive Gaussian Mixture Anchors for Prior-…

Trajectory prediction has been a crucial task in building a reliable autonomous driving system by anticipating possible dangers. One key issue is to generate consistent trajectory predictions without colliding. To overcome the challenge, we…

Adaptively forecasting human behavior in social settings is an important step toward achieving Artificial General Intelligence. Most existing research in social forecasting has focused either on unfocused interactions, such as pedestrian…

Smooth and seamless robot navigation while interacting with humans depends on predicting human movements. Forecasting such human dynamics often involves modeling human trajectories (global motion) or detailed body joint movements (local…

Motion forecasting plays a pivotal role in autonomous driving systems, enabling vehicles to execute collision warnings and rational local-path planning based on predictions of the surrounding vehicles. However, prevalent methods often…

Anticipating future actions in videos is challenging, as the observed frames provide only evidence of past activities, requiring the inference of latent intentions to predict upcoming actions. Existing transformer-based approaches, which…

The prediction of surrounding vehicle trajectories is crucial for collision-free path planning. In this study, we focus on a scenario where a connected and autonomous vehicle (CAV) serves as the central agent, utilizing both sensors and…

We consider the problem of an autonomous agent equipped with multiple sensors, each with different sensing precision and energy costs. The agent's goal is to explore the environment and gather information subject to its resource constraints…

Deep learning-based trajectory prediction models for autonomous driving often struggle with generalization to out-of-distribution (OOD) scenarios, sometimes performing worse than simple rule-based models. To address this limitation, we…

Accurate driver attention prediction can serve as a critical reference for intelligent vehicles in understanding traffic scenes and making informed driving decisions. Though existing studies on driver attention prediction improved…

Predicting the future behavior of road users is one of the most challenging and important problems in autonomous driving. Applying deep learning to this problem requires fusing heterogeneous world state in the form of rich perception…

Enabling resilient autonomous motion planning requires robust predictions of surrounding road users' future behavior. In response to this need and the associated challenges, we introduce our model titled MTP-GO. The model encodes the scene…

Accurate Vehicle Trajectory Prediction is critical for automated vehicles and advanced driver assistance systems. Vehicle trajectory prediction consists of two essential tasks, i.e., longitudinal position prediction and lateral position…

Anticipating actions before they occur is a core challenge in action understanding research. While conventional methods rely on extracting and aggregating temporal information from videos, as humans we can often predict upcoming actions by…

Human trajectory forecasting is a key component of autonomous vehicles, social-aware robots and advanced video-surveillance applications. This challenging task typically requires knowledge about past motion, the environment and likely…

This article proposes an active-learning-based adaptive trajectory tracking control method for autonomous ground vehicles to compensate for modeling errors and unmodeled dynamics. The nominal vehicle model is decoupled into lateral and…

Deep motion forecasting models have achieved great success when trained on a massive amount of data. Yet, they often perform poorly when training data is limited. To address this challenge, we propose a transfer learning approach for…

This paper introduces a joint learning architecture (JLA) for multiple object tracking (MOT) and trajectory forecasting in which the goal is to predict objects' current and future trajectories simultaneously. Motion prediction is widely…

Autonomous Vehicles navigating in urban areas have a need to understand and predict future pedestrian behavior for safer navigation. This high level of situational awareness requires observing pedestrian behavior and extrapolating their…

Pedestrian trajectory prediction plays an important role in autonomous driving systems and robotics. Recent work utilizing prominent deep learning models for pedestrian motion prediction makes limited a priori assumptions about human…

Predicting future behavior of the surrounding vehicles is crucial for self-driving platforms to safely navigate through other traffic. This is critical when making decisions like crossing an unsignalized intersection. We address the problem…