相关论文: Recall to Predict: Grounding Motion Forecasting in…

Many existing motion prediction approaches rely on symbolic perception outputs to generate agent trajectories, such as bounding boxes, road graph information and traffic lights. This symbolic representation is a high-level abstraction of…

Anchor-based detectors have been continuously developed for object detection. However, the individual anchor box makes it difficult to predict the boundary's offset accurately. Instead of taking each bounding box as a closed individual, we…

Transformers process tokens in parallel but are temporally shallow: at position $t$, each layer attends to key-value pairs computed based on the previous layer, yielding a depth capped by the number of layers. Recurrent models offer…

LiDAR relocalization has attracted increasing attention as it can deliver accurate 6-DoF pose estimation in complex 3D environments. Recent learning-based regression methods offer efficient solutions by directly predicting global poses…

Trajectory planning in unstructured environments is a fundamental and challenging capability for mobile robots. Traditional modular pipelines suffer from latency and cascading errors across perception, localization, mapping, and planning…

Reliable forecasting of the future behavior of road agents is a critical component to safe planning in autonomous vehicles. Here, we represent continuous trajectories as sequences of discrete motion tokens and cast multi-agent motion…

Existing precipitation nowcasting methods typically adopt an autoregressive formulation, where future states are predicted from previous outputs. However, such an approach accumulates errors over long rollouts, causing forecasts to drift…

Recent studies on transformer-based language models show that they can answer questions by reasoning over knowledge provided as part of the context (i.e., in-context reasoning). However, since the available knowledge is often not filtered…

Time series foundation models (TSFMs) have recently achieved strong zero-shot forecasting performance through large-scale pretraining and retrieval-augmented prediction. However, our empirical analysis reveals a non-trivial limitation of…

Fine-tuning is the primary mechanism for adapting foundation models to downstream tasks; however, standard approaches largely optimize task objectives in isolation and do not account for secondary yet critical alignment objectives (e.g.,…

The deployment of pre-trained perception models in novel environments often leads to performance degradation due to distributional shifts. Although recent artificial intelligence approaches for metacognition use logical rules to…

Model Predictive Control (MPC) provides interpretable, tunable locomotion controllers grounded in physical models, but its robustness depends on frequent replanning and is limited by model mismatch and real-time computational constraints.…

Human motion prediction, which aims at predicting future human skeletons given the past ones, is a typical sequence-to-sequence problem. Therefore, extensive efforts have been continued on exploring different RNN-based encoder-decoder…

Advanced machine learning models have recently achieved high predictive accuracy for weather and climate prediction. However, these complex models often lack inherent transparency and interpretability, acting as "black boxes" that impede…

Multi-timescale sequence modeling relies on capturing both local fast dynamics and global slow context; yet, maintaining these capabilities under the strict memory constraints common to edge devices remains an open challenge. Current…

We present a novel motion generation approach for robot arms, with high degrees of freedom, in complex settings that can adapt online to obstacles or new via points. Learning from Demonstration facilitates rapid adaptation to new tasks and…

Developing natural and diverse locomotion controllers for quadruped robots that can adapt to complex terrains while preserving motion style remains a significant challenge. Existing imitation-based methods face a fundamental optimization…

Numerical reasoning over natural language has been a long-standing goal for the research community. However, cutting-edge language models have proven difficult to reliably generalize to a broad range of numbers, although they have shown…

The stability-plasticity dilemma is a major challenge in continual learning, as it involves balancing the conflicting objectives of maintaining performance on previous tasks while learning new tasks. In this paper, we propose the…

Traditional target tracking pipelines including detection, mapping, navigation, and control are comprehensive but introduce high latency, limitting the agility of quadrotors. On the contrary, we follow the design principle of "less is…