5 papers · 1 filter
Unified Prediction and Planning via Conflict-Aware Disjoint Parameter Training
Taewon Seo, Seonae Jeon, Giwon Lee +2
Accurate motion prediction of surrounding agents and safe motion planning are two closely coupled key tasks for social robot navigation in crowded environments. Deploying these sys…
HEAT: Heterogeneous End-to-End Autonomous Driving via Trajectory-Guided World Models
Hoonhee Cho, Giwon Lee, Jae-Young Kang +3
End-to-end autonomous driving has emerged as a compelling alternative to traditional modular pipelines by directly mapping raw sensor data to driving actions. While recent approach…
Cooperative Informative Sensing for Monitoring Dynamic Indoor Environments via Multi-Agent Reinforcement Learning
Kanghoon Lee, Matthew M. Sato, Jinnyeong Yang +7
Monitoring human activity in indoor environments is important for applications such as facility management, safety assessment, and space utilization analysis. While mobile robot te…
Interaction-Merged Motion Planning: Effectively Leveraging Diverse Motion Datasets for Robust Planning
Giwon Lee, Wooseong Jeong, Daehee Park +2
Motion planning is a crucial component of autonomous robot driving. While various trajectory datasets exist, effectively utilizing them for a target domain remains challenging due…
Non-differentiable Reward Optimization for Diffusion-based Autonomous Motion Planning
Giwon Lee, Daehee Park, Jaewoo Jeong +1
Safe and effective motion planning is crucial for autonomous robots. Diffusion models excel at capturing complex agent interactions, a fundamental aspect of decision-making in dyna…