Offline imitation from observations aims to solve MDPs where only task-specific expert states and task-agnostic non-expert state-action pairs are available. Offline imitation is useful in real-world scenarios where arbitrary interactions are costly and expert actions are unavailable. The state-of-the-art'DIstribution Correction Estimation' (DICE) methods minimize divergence of state occupancy between expert and learner policies and retrieve a policy with weighted behavior cloning; however, their results are unstable when learning from incomplete trajectories, due to a non-robust optimization in the dual domain. To address the issue, in this paper, we propose Trajectory-Aware Imitation Learning from Observations (TAILO). TAILO uses a discounted sum along the future trajectory as the weight for weighted behavior cloning. The terms for the sum are scaled by the output of a discriminator, which aims to identify expert states. Despite simplicity, TAILO works well if there exist trajectories or segments of expert behavior in the task-agnostic data, a common assumption in prior work. In experiments across multiple testbeds, we find TAILO to be more robust and effective, particularly with incomplete trajectories.

Extracting 3D shape of deforming objects in monocular videos, a task known as non-rigid structure-from-motion (NRSfM), has so far been studied only on synthetic datasets and controlled environments. Typically, the objects to reconstruct are pre-segmented, they exhibit limited rotations and occlusions, or full-length trajectories are assumed. In order to integrate NRSfM into current video analysis pipelines, one needs to consider as input realistic -thus incomplete-tracking, and perform spatio-temporal grouping to segment the objects from their surroundings. Furthermore, NRSfM needs to be robust to noise in both segmentation and tracking, e.g., drifting, segmentation "leaking", optical flow "bleeding" etc. In this paper, we make a first attempt towards this goal, and propose a method that combines dense optical flow tracking, motion trajectory clustering and NRSfM for 3D reconstruction of objects in videos. For each trajectory cluster, we compute multiple reconstructions by minimizing the reprojection error and the rank of the 3D shape under different rank bounds of the trajectory matrix. We show that dense 3D shape is extracted and trajectories are completed across occlusions and low textured regions, even under mild relative motion between the object and the camera. We achieve competitive results on a public NRSfM benchmark while using fixed parameters across all sequences and handling incomplete trajectories, in contrast to existing approaches.

Offline imitation from observations aims to solve MDPs where only task-specific expert states and task-agnostic non-expert state-action pairs are available. Offline imitation is useful in real-world scenarios where arbitrary interactions are costly and expert actions are unavailable. The state-of-the-art'DIstribution Correction Estimation' (DICE) methods minimize divergence of state occupancy between expert and learner policies and retrieve a policy with weighted behavior cloning; however, their results are unstable when learning from incomplete trajectories, due to a non-robust optimization in the dual domain. To address the issue, in this paper, we propose Trajectory-Aware Imitation Learning from Observations (TAILO). TAILO uses a discounted sum along the future trajectory as the weight for weighted behavior cloning.

Motion prediction plays an essential role in autonomous driving systems, enabling autonomous vehicles to achieve more accurate local-path planning and driving decisions based on predictions of the surrounding vehicles. However, existing methods neglect the potential missing values caused by object occlusion, perception failures, etc., which inevitably degrades the trajectory prediction performance in real traffic scenarios. To address this limitation, we propose a novel end-to-end framework for incomplete vehicle trajectory prediction, named Multi-scale Temporal Fusion Transformer (MTFT), which consists of the Multi-scale Attention Head (MAH) and the Continuity Representation-guided Multi-scale Fusion (CRMF) module. Specifically, the MAH leverages the multi-head attention mechanism to parallelly capture multi-scale motion representation of trajectory from different temporal granularities, thus mitigating the adverse effect of missing values on prediction. Furthermore, the multi-scale motion representation is input into the CRMF module for multi-scale fusion to obtain the robust temporal feature of the vehicle. During the fusion process, the continuity representation of vehicle motion is first extracted across time steps to guide the fusion, ensuring that the resulting temporal feature incorporates both detailed information and the overall trend of vehicle motion, which facilitates the accurate decoding of future trajectory that is consistent with the vehicle's motion trend. We evaluate the proposed model on four datasets derived from highway and urban traffic scenarios. The experimental results demonstrate its superior performance in the incomplete vehicle trajectory prediction task compared with state-of-the-art models, e.g., a comprehensive performance improvement of more than 39% on the HighD dataset.

Motion forecasting plays a pivotal role in autonomous driving systems, enabling vehicles to execute collision warnings and rational local-path planning based on predictions of the surrounding vehicles. However, prevalent methods often assume complete observed trajectories, neglecting the potential impact of missing values induced by object occlusion, scope limitation, and sensor failures. Such oversights inevitably compromise the accuracy of trajectory predictions. To tackle this challenge, we propose an end-to-end framework, termed Multiscale Transformer (MSTF), meticulously crafted for incomplete trajectory prediction. MSTF integrates a Multiscale Attention Head (MAH) and an Information Increment-based Pattern Adaptive (IIPA) module. Specifically, the MAH component concurrently captures multiscale motion representation of trajectory sequence from various temporal granularities, utilizing a multi-head attention mechanism. This approach facilitates the modeling of global dependencies in motion across different scales, thereby mitigating the adverse effects of missing values. Additionally, the IIPA module adaptively extracts continuity representation of motion across time steps by analyzing missing patterns in the data. The continuity representation delineates motion trend at a higher level, guiding MSTF to generate predictions consistent with motion continuity. We evaluate our proposed MSTF model using two large-scale real-world datasets. Experimental results demonstrate that MSTF surpasses state-of-the-art (SOTA) models in the task of incomplete trajectory prediction, showcasing its efficacy in addressing the challenges posed by missing values in motion forecasting for autonomous driving systems.

Extracting 3D shape of deforming objects in monocular videos, a task known as non-rigid structure-from-motion (NRSfM), has so far been studied only on synthetic datasets and controlled environments. Typically, the objects to reconstruct are pre-segmented, they exhibit limited rotations and occlusions, or full-length trajectories are assumed. In order to integrate NRSfM into current video analysis pipelines, one needs to consider as input realistic -thus incomplete-tracking, and perform spatio-temporal grouping to segment the objects from their surroundings. Furthermore, NRSfM needs to be robust to noise in both segmentation and tracking, e.g., drifting, segmentation "leaking", optical flow "bleeding" etc. In this paper, we make a first attempt towards this goal, and propose a method that combines dense optical flow tracking, motion trajectory clustering and NRSfM for 3D reconstruction of objects in videos. For each trajectory cluster, we compute multiple reconstructions by minimizing the reprojection error and the rank of the 3D shape under different rank bounds of the trajectory matrix. We show that dense 3D shape is extracted and trajectories are completed across occlusions and low textured regions, even under mild relative motion between the object and the camera. We achieve competitive results on a public NRSfM benchmark while using fixed parameters across all sequences and handling incomplete trajectories, in contrast to existing approaches.

Generative Flow Networks or GFlowNets are related to Monte-Carlo Markov chain methods (as they sample from a distribution specified by an energy function), reinforcement learning (as they learn a policy to sample composed objects through a sequence of steps), generative models (as they learn to represent and sample from a distribution) and amortized variational methods (as they can be used to learn to approximate and sample from an otherwise intractable posterior, given a prior and a likelihood). They are trained to generate an object $x$ through a sequence of steps with probability proportional to some reward function $R(x)$ (or $\exp(-\mathcal{E}(x))$ with $\mathcal{E}(x)$ denoting the energy function), given at the end of the generative trajectory. Like for other RL settings where the reward is only given at the end, the efficiency of training and credit assignment may suffer when those trajectories are longer. With previous GFlowNet work, no learning was possible from incomplete trajectories (lacking a terminal state and the computation of the associated reward). In this paper, we consider the case where the energy function can be applied not just to terminal states but also to intermediate states. This is for example achieved when the energy function is additive, with terms available along the trajectory. We show how to reparameterize the GFlowNet state flow function to take advantage of the partial reward already accrued at each state. This enables a training objective that can be applied to update parameters even with incomplete trajectories. Even when complete trajectories are available, being able to obtain more localized credit and gradients is found to speed up training convergence, as demonstrated across many simulations.

Real-time traffic volume inference is key to an intelligent city. It is a challenging task because accurate traffic volumes on the roads can only be measured at certain locations where sensors are installed. Moreover, the traffic evolves over time due to the influences of weather, events, holidays, etc. Existing solutions to the traffic volume inference problem often rely on dense GPS trajectories, which inevitably fail to account for the vehicles which carry no GPS devices or have them turned off. Consequently, the results are biased to taxicabs because they are almost always online for GPS tracking. In this paper, we propose a novel framework for the citywide traffic volume inference using both dense GPS trajectories and incomplete trajectories captured by camera surveillance systems. Our approach employs a high-fidelity traffic simulator and deep reinforcement learning to recover full vehicle movements from the incomplete trajectories. In order to jointly model the recovered trajectories and dense GPS trajectories, we construct spatiotemporal graphs and use multi-view graph embedding to encode the multi-hop correlations between road segments into real-valued vectors. Finally, we infer the citywide traffic volumes by propagating the traffic values of monitored road segments to the unmonitored ones through masked pairwise similarities. Extensive experiments with two big regions in a provincial capital city in China verify the effectiveness of our approach.

Extracting 3D shape of deforming objects in monocular videos, a task known as non-rigid structure-from-motion (NRSfM), has so far been studied only on synthetic datasets and controlled environments. Typically, the objects to reconstruct are pre-segmented, they exhibit limited rotations and occlusions, or full-length trajectories are assumed. In order to integrate NRSfM into current video analysis pipelines, one needs to consider as input realistic -thus incomplete- tracking, and perform spatio-temporal grouping to segment the objects from their surroundings. Furthermore, NRSfM needs to be robust to noise in both segmentation and tracking, e.g., drifting, segmentation ``leaking'', optical flow ``bleeding'' etc. In this paper, we make a first attempt towards this goal, and propose a method that combines dense optical flow tracking, motion trajectory clustering and NRSfM for 3D reconstruction of objects in videos. For each trajectory cluster, we compute multiple reconstructions by minimizing the reprojection error and the rank of the 3D shape under different rank bounds of the trajectory matrix. We show that dense 3D shape is extracted and trajectories are completed across occlusions and low textured regions, even under mild relative motion between the object and the camera. We achieve competitive results on a public NRSfM benchmark while using fixed parameters across all sequences and handling incomplete trajectories, in contrast to existing approaches. We further test our approach on popular video segmentation datasets. To the best of our knowledge, our method is the first to extract dense object models from realistic videos, such as those found in Youtube or Hollywood movies, without object-specific priors.