Propagating State Uncertainty Through Trajectory Forecasting
Boris Ivanovic,Yifeng Lin,Shubham Shrivastava,Punarjay Chakravarty,Marco Pavone,Boris Ivanovic,Yifeng Lin,Shubham Shrivastava,Punarjay Chakravarty,Marco Pavone
Uncertainty pervades through the modern robotic autonomy stack, with nearly every component (e.g., sensors, detection, classification, tracking, behavior prediction) producing continuous or discrete probabilistic distributions. Trajectory forecasting, in particular, is surrounded by uncertainty as its inputs are produced by (noisy) upstream perception and its outputs are predictions that are often...
