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

A Context-aware Attention Network for Interactive Question Answering

Neural network based sequence-to-sequence models in an encoder-decoder framework have been successfully applied to solve Question Answering (QA) problems, predicting answers from statements and questions. However, almost all previous models have failed to consider detailed context information and unknown states under which systems do not have enough information to answer given questions. These scenarios with incomplete or ambiguous information are very common in the setting of Interactive Question Answering (IQA). To address this challenge, we develop a novel model, employing context-dependent word-level attention for more accurate statement representations and question-guided sentence-level attention for better context modeling. We also generate unique IQA datasets to test our model, which will be made publicly available. Employing these attention mechanisms, our model accurately understands when it can output an answer or when it requires generating a supplementary question for additional input depending on different contexts. When available, user's feedback is encoded and directly applied to update sentence-level attention to infer an answer. Extensive experiments on QA and IQA datasets quantitatively demonstrate the effectiveness of our model with significant improvement over state-of-the-art conventional QA models.Comment: 9 page