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

The high dynamics and heterogeneous interactions in the complicated urban systems have raised the issue of uncertainty quantification in spatiotemporal human mobility, to support critical decision-makings in risk-aware web applications such…

Trajectory prediction has always been a challenging problem for autonomous driving, since it needs to infer the latent intention from the behaviors and interactions from traffic participants. This problem is intrinsically hard, because each…

Object detection is a critical component of a self-driving system, tasked with inferring the current states of the surrounding traffic actors. While there exist a number of studies on the problem of inferring the position and shape of…

Accurate trajectory prediction is crucial for autonomous driving, yet uncertainty in agent behavior and perception noise makes it inherently challenging. While multi-modal trajectory prediction models generate multiple plausible future…

For safe operation, a robot must be able to avoid collisions in uncertain environments. Existing approaches for motion planning under uncertainties often assume parametric obstacle representations and Gaussian uncertainty, which can be…

In multi-modal multi-agent trajectory forecasting, two major challenges have not been fully tackled: 1) how to measure the uncertainty brought by the interaction module that causes correlations among the predicted trajectories of multiple…

Human motion is stochastic and ensuring safe robot navigation in a pedestrian-rich environment requires proactive decision-making. Past research relied on incorporating deterministic future states of surrounding pedestrians which can be…

Uncertainty modeling is critical in trajectory forecasting systems for both interpretation and safety reasons. To better predict the future trajectories of multiple agents, recent works have introduced interaction modules to capture…

Accurate prediction of driving scene is a challenging task due to uncertainty in sensor data, the complex behaviors of agents, and the possibility of multiple feasible futures. Existing prediction methods using occupancy grid maps primarily…

Trajectory prediction is a crucial undertaking in understanding entity movement or human behavior from observed sequences. However, current methods often assume that the observed sequences are complete while ignoring the potential for…

Uncertainty-aware robot motion prediction is crucial for downstream traversability estimation and safe autonomous navigation in unstructured, off-road environments, where terrain is heterogeneous and perceptual uncertainty is high. Most…

Trajectory prediction aims to predict the movement trend of the agents like pedestrians, bikers, vehicles. It is helpful to analyze and understand human activities in crowded spaces and widely applied in many areas such as surveillance…

High-definition (HD) maps have played an integral role in the development of modern autonomous vehicle (AV) stacks, albeit with high associated labeling and maintenance costs. As a result, many recent works have proposed methods for…

Tremendous efforts have been put forth on predicting pedestrian trajectory with generative models to accommodate uncertainty and multi-modality in human behaviors. An individual's inherent uncertainty, e.g., change of destination, can be…

Accurate prediction of pedestrian trajectories is essential for applications in robotics and surveillance systems. While existing approaches primarily focus on social interactions between pedestrians, they often overlook the rich…

Uncertainty pervades through the modern robotic autonomy stack, with nearly every component (e.g., sensors, detection, classification, tracking, behavior prediction) producing continuous or discrete probabilistic distributions. Trajectory…

In a given scenario, simultaneously and accurately predicting every possible interaction of traffic participants is an important capability for autonomous vehicles. The majority of current researches focused on the prediction of an single…

Learning-based trajectory prediction models have encountered great success, with the promise of leveraging contextual information in addition to motion history. Yet, we find that state-of-the-art forecasting methods tend to overly rely on…

Robust pedestrian trajectory forecasting is crucial to developing safe autonomous vehicles. Although previous works have studied adversarial robustness in the context of trajectory forecasting, some significant issues remain unaddressed. In…

Comprehensive visual, geometric, and semantic understanding of a 3D scene is crucial for successful execution of robotic tasks, especially in unstructured and complex environments. Additionally, to make robust decisions, it is necessary for…