7 papers
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…
BitTP: The Lightweight Trajectory Prediction Model with BitLLM for Edge-Devices
Mincheol Kang, Hyunjin Lim, Bomin Kang +1
Trajectory prediction is a fundamental task for autonomous systems, requiring complex reasoning about multi-agent interactions and intents. Large language models (LLMs) have recent…
EggHand: A Multimodal Foundation Model for Egocentric Hand Pose Forecasting
Jaeyoung Choi, Hyeondong Kim, Yujin Kim +1
Forecasting future 3D hand pose sequences from egocentric video is essential for understanding human intention and enabling embodied applications such as AR/VR assistance and human…
Generative Active Learning for Long-tail Trajectory Prediction via Controllable Diffusion Model
Daehee Park, Monu Surana, Pranav Desai +3
While data-driven trajectory prediction has enhanced the reliability of autonomous driving systems, it still struggles with rarely observed long-tail scenarios. Prior works address…
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…