Generative model learns vehicle trajectory distributions for better data generalization.
problem Data sparsity and privacy issues in urban vehicle trajectory analysis.
method Generative adversarial imitation learning framework for urban vehicle trajectory generation.
result TrajGAIL model produces synthetic trajectories similar to real ones, achieving significant performance gains.
MultiPath predicts multi-modal future trajectories for better motion planning.
problem Predicting human behavior in uncertain real-world domains like autonomous driving.
method Leverages fixed future state-sequence anchors and regresses offsets with uncertainties.
result Achieves more accurate predictions with an order of magnitude fewer trajectories.
Improved Gaussian Process model for predicting trajectories without independence assumption errors.
problem Incorrect independence assumption in previous work on Gaussian Process uncertainty propagation.
method Proposed a novel piecewise linear approximation to correct the independence assumption in continuous models.
result Corrected the independence assumption in Gaussian Process models for predicting trajectories.
Adaptive vehicle trajectory prediction for safer autonomous driving.
problem Inability of current methods to guarantee physical feasibility and adapt to human driving policies.
method Bayesian recurrent neural network combining policy and physical models, with gradient-based training and parameter adaptation.
result The proposed method ensures physical feasibility and adaptability to human driving policies.
The paper improves lower bounds on deep neural network trajectories.
problem Understanding the expressivity of deep neural networks.
method Generalized method for lower bounding trajectory growth in random sparse deep ReLU networks.
result Trajectory growth can remain exponential in depth with sparse variants of random nets.
Study shows different trajectory prediction models generalize better under OoD conditions.
problem Comparing trajectory prediction models' robustness across different datasets.
method Training models on Argoverse 2 and testing on Waymo Open Motion, and vice versa, with various augmentation strategies.
result Smallest model with highest inductive bias performs best in OoD generalization.
Bayesian inference models failure distributions in autonomous systems.
problem Estimating the distribution of failures in complex systems.
method Bayesian inference using system dynamics rollouts and gradient computation.
result Improves sample efficiency and parameter space coverage in autonomous systems.
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…
Two flat sub-Lorentzian problems on Martinet distribution differ in attainable set intersections.
problem Flat sub-Lorentzian structures on Martinet distribution.
method Analysis of attainable sets, optimal trajectories, sub-Lorentzian distances and spheres.
result The attainable set for the first problem intersects with the Martinet plane, while for the second it does not.
Characterizes metabelian distributions and geodesics in sub-Riemannian manifolds.
problem Characterizing metabelian distributions and geodesics in sub-Riemannian manifolds.
method Characterization of metabelian distributions in terms of principal bundle structures. Proof of geodesic properties for rank-2 distributions.
result For rank-2 metabelian distributions, geodesics are of class C1. DDD reformulated for sparse matrices, integrating trajectory and snapshot time series data.
problem Efficiently integrate trajectory and snapshot time series data.
method Reformulate DDD to use compact basis functions, reducing parameter scaling.
result Inference of sparse matrices reduces the number of parameters in DDD.
Gaussian processes model geospatial trajectories with uncertainty.
problem Interpolating and predicting complex spatiotemporal data.
method Gaussian process models trajectories as multidimensional Gaussian distributions.
result Gaussian processes provide a flexible and probabilistic way to interpolate geospatial data.
New method detects metastable basins in high dimensions using trajectory sampling.
problem Identifying distinct basins in high-dimensional Markov processes.
method Discriminative approach based on marginal trajectory distribution comparison.
result Bayes-optimal classifier achieves high accuracy distinguishing between basins.
We introduce a spatio-temporal convolutional neural network model for trajectory forecasting from visual sources. Applied in an auto-regressive way it provides an explicit probability distribution over continuations of a given initial trajectory segment. We discuss it in relation to (more complicated) existing work and…
KOMET identifies Koopman operators from model parameter trajectories to adapt to evolving data distributions.
problem Adaptation of parametric models to non-stationary environments.
method Data-driven framework using Koopman operator identification and Extended Dynamic Mode Decomposition (EDMD).
result KOMET achieves high autonomous-rollout accuracies of 0.981 to 1.000 over 100 time steps on various drifting datasets.
EPD method accurately captures parameter distributions from RCS data.
problem Limitations of traditional methods in estimating parameter distributions from RCS data.
method EPD method generates synthetic trajectories, estimates parameters, and selects parameters based on discrepancy.
result EPD provides accurate distribution of parameters without data loss.
Variational inference improves training of generative flow networks.
problem Training generative flow networks efficiently and accurately.
method Define variational objectives in terms of KL divergences and optimize convex combinations.
result Variational inference methods can reduce the variance of gradients in training generative flow networks.
Geometric Brownian motion (GBM) is a key model for representing self-reproducing entities. Self-reproduction may be considered the definition of life [5], and the dynamics it induces are of interest to those concerned with living systems from biology to economics. Trajectories of GBM are distributed according to the we…
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…
New method detects OOD samples using neural network trajectories.
problem Lack of comprehensive layer exploration in OOD detection.
method Functional data perspective, analyzing sample trajectories through multi-layer classifier.
result Empirically validated as effective compared to state-of-the-art methods.
Optimal tracking of nonholonomic systems using geometric methods.
problem Tracking a trajectory for nonholonomic mechanical systems.
method Geometric optimal control, Pontryagin Maximum Principle, variational approach.
result Optimal control solutions for nonholonomic systems validated by examples and simulations.
CMTS synthesizes near-miss driving scenarios for safer autonomous driving tests.
problem Lack of near-miss driving data for testing autonomous driving algorithms.
method Generative model conditioned on road maps, using Variational Bayesian methods.
result Synthesized data covers more near-miss scenarios, improving trajectory prediction and risk handling.
Study of ants' movement rules on a 6D space, revealing distribution structures and singular trajectories.
problem Understanding the movement patterns of ants in a 6D space.
method Analyzing mechanical system rules to derive distribution structures and singular trajectories.
result Distributions and singular trajectories of ants' movement rules in a 6D space.
The paper addresses GP dynamics by improving simulation and prediction accuracy.
problem GP dynamics often underestimate prediction uncertainty, leading to safety issues.
method The paper introduces sampling-based and linearization-based techniques to account for the correlation between successive function evaluations.
result The proposed methods provide more accurate trajectory distributions and prediction uncertainties.
New method learns particle system potentials from unlabeled data.
problem Learning potentials of interacting particle systems from unlabeled data with trajectory information missing.
method Introduces a self-test loss function based on stochastic evolution equation.
result Method outperforms baseline methods in robust estimation of large, high-dimensional systems.
We propose a method to learn a distribution of shape trajectories from longitudinal data, i.e. the collection of individual objects repeatedly observed at multiple time-points. The method allows to compute an average spatiotemporal trajectory of shape changes at the group level, and the individual variations of this tr…
Diffusion models' sampling paths lie in a low-dimensional subspace, resembling boomerangs.
problem Understanding the geometric structure of diffusion-based generative models.
method Characterization of deterministic sampling trajectories using low-dimensional subspace and kernel-estimated data modeling.
result Sampling trajectories in diffusion models are confined to a low-dimensional subspace and exhibit a boomerang shape.
New algorithm improves RL performance across different environments.
problem Improving reinforcement learning performance across various environments.
method Designing a fully model-free DRRL algorithm that learns from a single trajectory.
result Demonstrates superior robustness and sample efficiency compared to existing methods.
Improved GFlowNets learn more efficiently with trajectory balance.
problem Inefficient credit assignment in GFlowNets leads to suboptimal learning.
method Proposed trajectory balance as a new learning objective.
result Trajectory balance leads to more efficient and robust GFlowNet learning.
New methods learn sampling distributions for particle filters without supervision.
problem Designing accurate sampling distributions for nonlinear dynamical systems.
method Proposed four unsupervised learning methods for multivariate Gaussian and nonparametric distributions.
result Learned sampling distributions outperform designed ones in accuracy.
Persistent neurons improve neural network optimization by leveraging previous solutions.
problem Improving neural network optimization under different initialization and data distributions.
method Persistent neurons use information from previous converged solutions to explore new landscapes and avoid local minima.
result Persistent neurons converge to more optimal solutions and improve model performance under various initializations.
FLUID uses flows to unify filtering and smoothing for complex systems.
problem Bayesian filtering and smoothing for high-dimensional nonlinear systems.
method FLUID encodes observation histories into a fixed summary statistic, using flows for filtering and smoothing.
result FLUID provides accurate approximations of filtering and smoothing distributions.
New method predicts vehicle trajectories using map lane centers.
problem Accurate long-term vehicle trajectory prediction.
method Uses map lane centers to generate goal paths and predict trajectories.
result Model outperforms state-of-the-art approaches for 6-second horizon predictions.
Recently, researchers proposed various low-precision gradient compression, for efficient communication in large-scale distributed optimization. Based on these work, we try to reduce the communication complexity from a new direction. We pursue an ideal bijective mapping between two spaces of gradient distribution, so th…
A new method detects anomalies in trajectory data using normalizing flows.
problem Detecting anomalous patterns in high-dimensional, varying-length spatial data.
method Probability density estimation via normalizing flows for each trajectory segment, aggregating likelihoods.
result The proposed method, GRADINGS, effectively identifies anomalies in real-world trajectory data.
Deep model predicts robot trajectories in real time.
problem Real-time robot trajectory prediction with low latency.
method Deep conditional generative model trained with SGDVB.
result More accurate long-term predictions with lower latency.
ATLAS adapts HMC step size and trajectory length for complex geometries.
problem Sampling complex geometries with constant step size HMC/NUTS.
method Adapts step size and trajectory length using local Hessian and no U-turn condition.
result ATLAS accurately samples complex geometries, outperforming NUTS.
We introduce a method for learning the dynamics of complex nonlinear systems based on deep generative models over temporal segments of states and actions. Unlike dynamics models that operate over individual discrete timesteps, we learn the distribution over future state trajectories conditioned on past state, past acti…
Trajectory data suffices for efficient RL in linear MDPs.
problem Efficient offline RL in linear MDPs without state space scaling.
method Linear MDP approximation and trajectory data.
result Trajectory data suffices for deriving ε-optimal policies.
New method improves meta-reinforcement learning efficiency.
problem Sample inefficiency in meta-reinforcement learning.
method Hindsight Foresight Relabeling (HFR) method.
result HFR improves performance on various meta-reinforcement learning tasks.
The paper examines the sampling dynamics of diffusion models using ODEs.
problem Understanding the sampling dynamics of diffusion models.
method Careful inspection of ODE-based sampling of SDEs, revealing structures and relationships.
result Established a theoretical relationship between optimal ODE-based sampling and mean-shift algorithm.
New insights on offline RL with state aggregation and trajectory data.
problem Understanding sample complexity in offline policy evaluation.
method Analyzing concentrability coefficient in aggregated Markov Transition Model.
result Sample complexity depends on concentrability coefficient in aggregated model.
Study on extremals in sub-Lorentzian geometry defined by antinorm.
problem Characterizing extremals in sub-Lorentzian structures.
method Deriving Hamiltonian system and conditions for extremal trajectories.
result Conditions for normal extremal trajectories and properties of abnormal extremals.
One technique to visualize the training of neural networks is to perform PCA on the parameters over the course of training and to project to the subspace spanned by the first few PCA components. In this paper we compare this technique to the PCA of a high dimensional random walk. We compute the eigenvalues and eigenvec…
This work tackles uncertainty in multi-agent multi-modal trajectory forecasting.
problem Measuring and ranking uncertainty in multi-agent multi-modal trajectory forecasting.
method Proposes collaborative uncertainty (CU) and a CU-aware regression framework.
result The CU-aware regression framework improves SOTA systems' performances.
TGD improves conditional sampling by concentrating computation on promising trajectories.
problem Efficiently training-free conditional sampling with diffusion priors.
method Tempered Guided Diffusion (TGD) using annealed sequential Monte Carlo.
result TGD yields a consistent particle approximation to the posterior as the number of particles grows.
Study uses open data to improve traffic emissions estimation.
problem Estimating accurate link level traffic emissions.
method Data-driven framework integrating MOVES, GPS, OSM, and satellite imagery.
result Neural network reduces RMSE by over 50% for key pollutants.
Enhances RL in target domains with limited data using augmented return.
problem Utilize data from an accessible source domain to improve policy learning in a target domain with scarce data.
method Return Augmented Decision Transformer (REAG) method, which augments the return in the source domain to align with the target domain's optimal trajectory distribution.
result The proposed REAG method achieves the same level of suboptimality as without a dynamics shift, enhancing DT type frameworks' performance in off-dynamics RL.