165 citations · 236 across the 4 of their papers we have counts for
4 papers
Learning to Predict Vehicle Trajectories with Model-based Planning
Haoran Song, Di Luan, Wenchao Ding +2
Predicting the future trajectories of on-road vehicles is critical for autonomous driving. In this paper, we introduce a novel prediction framework called PRIME, which stands for P…
PiP: Planning-informed Trajectory Prediction for Autonomous Driving
Haoran Song, Wenchao Ding, Yuxuan Chen +3
It is critical to predict the motion of surrounding vehicles for self-driving planning, especially in a socially compliant and flexible way. However, future prediction is challengi…
Multi-Object Rearrangement with Monte Carlo Tree Search:A Case Study on Planar Nonprehensile Sorting
Haoran Song, Joshua A. Haustein, Weihao Yuan +4
In this work, we address a planar non-prehensile sorting task. Here, a robot needs to push many densely packed objects belonging to different classes into a configuration where the…
Reinforcement Learning in Topology-based Representation for Human Body Movement with Whole Arm Manipulation
Weihao Yuan, Kaiyu Hang, Haoran Song +3
Moving a human body or a large and bulky object can require the strength of whole arm manipulation (WAM). This type of manipulation places the load on the robot's arms and relies o…