3 papers
cs.LG2024
Improving Out-of-Distribution Generalization of Trajectory Prediction for Autonomous Driving via Polynomial Representations
Yue Yao, Shengchao Yan, Daniel Goehring +2
Robustness against Out-of-Distribution (OoD) samples is a key performance indicator of a trajectory prediction model. However, the development and ranking of state-of-the-art (SotA…
cs.RO2024
Motion Planning under Uncertainty: Integrating Learning-Based Multi-Modal Predictors into Branch Model Predictive Control
Mohamed-Khalil Bouzidi, Bojan Derajic, Daniel Goehring +1
In complex traffic environments, autonomous vehicles face multi-modal uncertainty about other agents' future behavior. To address this, recent advancements in learningbased motion…
eess.SY2023
Learning-Aided Warmstart of Model Predictive Control in Uncertain Fast-Changing Traffic
Mohamed-Khalil Bouzidi, Yue Yao, Daniel Goehring +1
Model Predictive Control lacks the ability to escape local minima in nonconvex problems. Furthermore, in fast-changing, uncertain environments, the conventional warmstart, using th…