A locally-built, LLM-digested index of recent arXiv papers in quant finance, geometry/topology, and statistical ML — keyword search served straight from SQLite on this machine.
TraLFM models human mobility patterns from traffic trajectories.
Autonomous vehicles (AVs) are on the road. To safely and efficiently interact with other road participants, AVs have to accurately predict the behavior of surrounding vehicles and plan accordingly. Such prediction should be probabilistic, to address the uncertainties in human behavior. Such prediction should also be in…
Robots need models of human behavior for both inferring human goals and preferences, and predicting what people will do. A common model is the Boltzmann noisily-rational decision model, which assumes people approximately optimize a reward function and choose trajectories in proportion to their exponentiated reward. Whi…
WayDCM predicts trajectories considering long-term goals, improving accuracy.
Accurately predicting future behaviors of surrounding vehicles is an essential capability for autonomous vehicles in order to plan safe and feasible trajectories. The behaviors of others, however, are full of uncertainties. Both rational and irrational behaviors exist, and the autonomous vehicles need to be aware of th…
Navigating complex urban environments safely is a key to realize fully autonomous systems. Predicting future locations of vulnerable road users, such as pedestrians and cyclists, thus, has received a lot of attention in the recent years. While previous works have addressed modeling interactions with the static (obstacl…
Hurricanes are cyclones circulating about a defined center whose closed wind speeds exceed 75 mph originating over tropical and subtropical waters. At landfall, hurricanes can result in severe disasters. The accuracy of predicting their trajectory paths is critical to reduce economic loss and save human lives. Given th…
Probabilistic vehicle trajectory prediction is essential for robust safety of autonomous driving. Current methods for long-term trajectory prediction cannot guarantee the physical feasibility of predicted distribution. Moreover, their models cannot adapt to the driving policy of the predicted target human driver. In th…
Representations of sequential data are commonly based on the assumption that observed sequences are realizations of an unknown underlying stochastic process, where the learning problem includes determination of the model parameters. In this context the model must be able to capture the multi-modal nature of the data, w…
The paper extends conformal prediction to MDP trajectories for autonomous systems.
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. Beyond single MAP trajectory prediction, obtaining an accurate probability distri…
To coordinate actions with an interaction partner requires a constant exchange of sensorimotor signals. Humans acquire these skills in infancy and early childhood mostly by imitation learning and active engagement with a skilled partner. They require the ability to predict and adapt to one's partner during an interacti…
Predicting transportation modes from GPS (Global Positioning System) records is a hot topic in the trajectory mining domain. Each GPS record is called a trajectory point and a trajectory is a sequence of these points. Trajectory mining has applications including but not limited to transportation mode detection, tourism…
ProtoryNet interprets text sequences using prototype trajectories for better understanding.
Deep Reinforcement Learning has shown tremendous success in solving several games and tasks in robotics. However, unlike humans, it generally requires a lot of training instances. Trajectories imitating to solve the task at hand can help to increase sample-efficiency of deep RL methods. In this paper, we present a simp…
Transportation agencies have an opportunity to leverage increasingly-available trajectory datasets to improve their analyses and decision-making processes. However, this data is typically purchased from vendors, which means agencies must understand its potential benefits beforehand in order to properly assess its value…
To solve complex real-world problems with reinforcement learning, we cannot rely on manually specified reward functions. Instead, we can have humans communicate an objective to the agent directly. In this work, we combine two approaches to learning from human feedback: expert demonstrations and trajectory preferences. …
Visual observations of dynamic phenomena, such as human actions, are often represented as sequences of smoothly-varying features . In cases where the feature spaces can be structured as Riemannian manifolds, the corresponding representations become trajectories on manifolds. Analysis of these trajectories is challengin…
This work creates a system for understanding human movement in spaces.
Robot motions in the presence of humans should not only be feasible and safe, but also conform to human preferences. This, however, requires user feedback on the robot's behavior. In this work, we propose a novel approach to leverage the user's brain signals as a feedback modality in order to decode the judgment of rob…
End-to-end learnable network for safer self-driving with interpretable intermediate representations.
Detecting anomalous activity in human mobility data has a number of applications including road hazard sensing, telematic based insurance, and fraud detection in taxi services and ride sharing. In this paper we address two challenges that arise in the study of anomalous human trajectories: 1) a lack of ground truth dat…
Motion analysis is used in computer vision to understand the behaviour of moving objects in sequences of images. Optimising the interpretation of dynamic biological systems requires accurate and precise motion tracking as well as efficient representations of high-dimensional motion trajectories so that these can be use…
This work trains a model to predict human driving directions from road scenes.
Paper uses deep imitation learning to predict aircraft trajectories accurately.
Combines Bézier curves with Gaussian processes for better sequential data modeling.
Meta-algorithm for efficient reinforcement learning from human preferences.
Improved trajectory prediction for team sports using sparse outputs.
Unified LP framework for offline reward learning from human demonstrations and feedback.
Many real-valued stochastic time-series are locally linear (Gassian), but globally non-linear. For example, the trajectory of a human hand gesture can be viewed as a linear dynamic system driven by a nonlinear dynamic system that represents muscle actions. We present a mixed-state dynamic graphical model in which a hid…
Mobility datasets are fundamental for evaluating algorithms pertaining to geographic information systems and facilitating experimental reproducibility. But privacy implications restrict sharing such datasets, as even aggregated location-data is vulnerable to membership inference attacks. Current synthetic mobility data…
We present a method for learning options from segmented demonstration trajectories. The trajectories are first segmented into skills using nonparametric Bayesian clustering and a reward function for each segment is then learned using inverse reinforcement learning. From this, a set of inferred trajectories for the demo…
Many AI problems, in robotics and other domains, are goal-directed, essentially seeking a trajectory leading to some goal state. In such problems, the way we choose to represent a trajectory underlies algorithms for trajectory prediction and optimization. Interestingly, most all prior work in imitation and reinforcemen…
KEMP predicts long-term trajectories for autonomous driving using keyframes.
New method learns behavioral representations from mobility data.
Graphs model human mobility patterns, reducing errors in data matching.
PhysVarMix predicts diverse urban trajectories with physics constraints.
We present CoverNet, a new method for multimodal, probabilistic trajectory prediction for urban driving. Previous work has employed a variety of methods, including multimodal regression, occupancy maps, and 1-step stochastic policies. We instead frame the trajectory prediction problem as classification over a diverse s…
New method infers human sensorimotor costs from behavior.
Method predicts NBA players' multi-modal movement trajectories.
End-to-end model predicts multiagent trajectories using game theory and neural nets.
Proposes a new theoretical framework for PbRL that requires less human feedback.
Improved Gaussian Process model for predicting trajectories without independence assumption errors.
In this paper we propose a new method to predict the final destination of vehicle trips based on their initial partial trajectories. We first review how we obtained clustering of trajectories that describes user behaviour. Then, we explain how we model main traffic flow patterns by a mixture of 2d Gaussian distribution…
Improved motion prediction for self-driving cars using trajectory sets and auxiliary losses.
New method predicts vehicle trajectories using map lane centers.
Analyzing the urban trajectory in cities has become an important topic in data mining. How can we model the human mobility consisting of stay and travel from the raw trajectory data? How can we infer such a mobility model from the single trajectory information? How can we further generalize the mobility inference to ac…
Unified framework for human-like decision making in various sequential tasks.