相关论文: Uncertainty-Aware Trajectory Prediction: A Unified…

To plan a safe and efficient route, an autonomous vehicle should anticipate future motions of other agents around it. Motion prediction is an extremely challenging task which recently gained significant attention of the research community.…

Occlusion-aware prediction remains a critical challenge in autonomous driving due to the inherent uncertainty of unobserved regions. Existing approaches either overestimate risk based on reachable states or struggle to predict accurate…

In recent years, learning-based control in robotics has gained significant attention due to its capability to address complex tasks in real-world environments. With the advances in machine learning algorithms and computational capabilities,…

Estimating the uncertainty of a neural network plays a fundamental role in safety-critical settings. In perception for autonomous driving, measuring the uncertainty means providing additional calibrated information to downstream tasks, such…

Existing end-to-end autonomous driving models rely heavily on purely data-driven inductive reasoning. This "black-box" nature leads to a lack of interpretability and absolute safety guarantees in complex, long-tail scenarios. To overcome…

Making accurate motion prediction of the surrounding traffic agents such as pedestrians, vehicles, and cyclists is crucial for autonomous driving. Recent data-driven motion prediction methods have attempted to learn to directly regress the…

Machine learning has become an effective tool for automatically annotating unstructured data (e.g., images) with structured labels (e.g., object detections). As a result, a new programming paradigm called neurosymbolic programming has…

Achieving robust robot learning for humanoid locomotion is a fundamental challenge in model-based reinforcement learning (MBRL), where environmental stochasticity and randomness can hinder efficient exploration and learning stability. The…

Trajectory planning and control have historically been separated into two modules in automated driving stacks. Trajectory planning focuses on higher-level tasks like avoiding obstacles and staying on the road surface, whereas the controller…

The uncertainty quantification of sensor measurements coupled with deep learning networks is crucial for many robotics systems, especially for safety-critical applications such as self-driving cars. This paper develops an uncertainty…

Uncertainty estimation is essential to make neural networks trustworthy in real-world applications. Extensive research efforts have been made to quantify and reduce predictive uncertainty. However, most existing works are designed for…

Recently, there has been an arms race of pose forecasting methods aimed at solving the spatio-temporal task of predicting a sequence of future 3D poses of a person given a sequence of past observed ones. However, the lack of unified…

Human motion and behaviour in crowded spaces is influenced by several factors, such as the dynamics of other moving agents in the scene, as well as the static elements that might be perceived as points of attraction or obstacles. In this…

Pedestrian trajectory prediction is an essential component in a wide range of AI applications such as autonomous driving and robotics. Existing methods usually assume the training and testing motions follow the same pattern while ignoring…

Reasoning about vehicle path prediction is an essential and challenging problem for the safe operation of autonomous driving systems. There exist many research works for path prediction. However, most of them do not use lane information and…

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…

Cognitive diagnosis models have been widely used in different areas, especially intelligent education, to measure users' proficiency levels on knowledge concepts, based on which users can get personalized instructions. As the measurement is…

Vehicle trajectory prediction is crucial for autonomous driving and advanced driver assistant systems. While existing approaches may sample from a predicted distribution of vehicle trajectories, they lack the ability to explore it -- a key…

The problem of predicting human motion given a sequence of past observations is at the core of many applications in robotics and computer vision. Current state-of-the-art formulate this problem as a sequence-to-sequence task, in which a…

The tracking-by-detection paradigm is the mainstream in multi-object tracking, associating tracks to the predictions of an object detector. Although exhibiting uncertainty through a confidence score, these predictions do not capture the…