11,724 research outputs found
Human Motion Trajectory Prediction: A Survey
With growing numbers of intelligent autonomous systems in human environments,
the ability of such systems to perceive, understand and anticipate human
behavior becomes increasingly important. Specifically, predicting future
positions of dynamic agents and planning considering such predictions are key
tasks for self-driving vehicles, service robots and advanced surveillance
systems. This paper provides a survey of human motion trajectory prediction. We
review, analyze and structure a large selection of work from different
communities and propose a taxonomy that categorizes existing methods based on
the motion modeling approach and level of contextual information used. We
provide an overview of the existing datasets and performance metrics. We
discuss limitations of the state of the art and outline directions for further
research.Comment: Submitted to the International Journal of Robotics Research (IJRR),
37 page
Predictive-State Decoders: Encoding the Future into Recurrent Networks
Recurrent neural networks (RNNs) are a vital modeling technique that rely on
internal states learned indirectly by optimization of a supervised,
unsupervised, or reinforcement training loss. RNNs are used to model dynamic
processes that are characterized by underlying latent states whose form is
often unknown, precluding its analytic representation inside an RNN. In the
Predictive-State Representation (PSR) literature, latent state processes are
modeled by an internal state representation that directly models the
distribution of future observations, and most recent work in this area has
relied on explicitly representing and targeting sufficient statistics of this
probability distribution. We seek to combine the advantages of RNNs and PSRs by
augmenting existing state-of-the-art recurrent neural networks with
Predictive-State Decoders (PSDs), which add supervision to the network's
internal state representation to target predicting future observations.
Predictive-State Decoders are simple to implement and easily incorporated into
existing training pipelines via additional loss regularization. We demonstrate
the effectiveness of PSDs with experimental results in three different domains:
probabilistic filtering, Imitation Learning, and Reinforcement Learning. In
each, our method improves statistical performance of state-of-the-art recurrent
baselines and does so with fewer iterations and less data.Comment: NIPS 201
A review of intelligent road preview methods for energy management of hybrid vehicles
Due to the shortage of fuel resources and concerns of environmental pressure, vehicle electrification is a promising trend. Hybrid vehicles are suitable alternatives to traditional vehicles. Travelling information is essential for hybrid vehicles to design the optimal control strategy for fuel consumption minimization and emissions reduction. In general, there are two ways to provide the information for the energy management strategy (EMS) design. First is extracting terrain information by utilizing global positioning system (GPS) and intelligent transportation system (ITS). However, this method is difficult to be implemented currently due to the computational complexity of extracting information. This leads to the second method which is predicting future vehicle speed and torque demand in a certain time horizon based on
current and previous vehicle states. To support optimal EMS development, this paper presents a comprehensive review of prediction methods based on different levels of trip information for the EMS of hybrid electric vehicle (HEV) and plug-in hybrid electric vehicle (PHEV)
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