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

We present the Frontier Aware Search with backTracking (FAST) Navigator, a general framework for action decoding, that achieves state-of-the-art results on the Room-to-Room (R2R) Vision-and-Language navigation challenge of Anderson et. al.…

Mechanistic interpretability has transformed the analysis of transformer circuits by decomposing model behavior into competing algorithms, identifying phase transitions during training, and deriving closed-form predictions for when and why…

Due to the limited availability of paired multi-modal data, multi-modal trackers are typically built by adopting pre-trained RGB models with parameter-efficient fine-tuning modules. However, these fine-tuning methods overlook advanced…

Motion forecasting for autonomous driving is a challenging task because complex driving scenarios result in a heterogeneous mix of static and dynamic inputs. It is an open problem how best to represent and fuse information about road…

Recently, the attention-enhanced multi-layer encoder, such as Transformer, has been extensively studied in Machine Reading Comprehension (MRC). To predict the answer, it is common practice to employ a predictor to draw information only from…

Trajectory prediction is crucial for autonomous vehicles. The planning system not only needs to know the current state of the surrounding objects but also their possible states in the future. As for vehicles, their trajectories are…

Recent progress in large models has led to significant advances in unified multimodal generation and understanding. However, the development of models that unify motion-language generation and understanding remains largely underexplored.…

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…

Pedestrian action prediction is of great significance for many applications such as autonomous driving. However, state-of-the-art methods lack explainability to make trustworthy predictions. In this paper, a novel framework called MulCPred…

AI agents operating over extended time horizons accumulate experiences that serve multiple concurrent goals, and must often maintain conflicting interpretations of the same events. A concession during a client negotiation encodes as a…

Predicting human behavior is a difficult and crucial task required for motion planning. It is challenging in large part due to the highly uncertain and multi-modal set of possible outcomes in real-world domains such as autonomous driving.…

In this paper, we propose a novel query design for the transformer-based object detection. In previous transformer-based detectors, the object queries are a set of learned embeddings. However, each learned embedding does not have an…

Human trajectory prediction is typically posed as a zero-shot generalization problem: a predictor is learnt on a dataset of human motion in training scenes, and then deployed on unseen test scenes. While this paradigm has yielded tremendous…

Defining a multi-target motion model, which is an important step of tracking algorithms, can be very challenging. Using fixed models (as in several generative Bayesian algorithms, such as Kalman filters) can fail to accurately predict…

Motion forecasting for on-road traffic agents presents both a significant challenge and a critical necessity for ensuring safety in autonomous driving systems. In contrast to most existing data-driven approaches that directly predict future…

Accurate forecasting of financial markets remains a long-standing challenge due to complex temporal and often latent dependencies, non-linear dynamics, and high volatility. Building on our earlier recurrent neural network framework, we…

Selective layer-wise updates are essential for low-cost continued pre-training of Large Language Models (LLMs), yet determining which layers to freeze or train remains an empirical black-box problem due to the lack of interpretable…

Catching and attributing code change-induced performance regressions in production is hard; predicting them beforehand, even harder. A primer on automatically learning to predict performance regressions in software, this article gives an…

Generalizing motion representation across diverse characters remains challenging due to significant topological variations in skeletal structures across datasets and species, which hinder the development of scalable generative models. To…

In object detection, determining which anchors to assign as positive or negative samples, known as anchor assignment, has been revealed as a core procedure that can significantly affect a model's performance. In this paper we propose a…