Related papers: Trajectory-Based Dynamic Map Labeling
Mobile robots are often tasked with repeatedly navigating through an environment whose traversability changes over time. These changes may exhibit some hidden structure, which can be learned. Many studies consider reactive algorithms for…
Predicting future trajectories of surrounding obstacles is a crucial task for autonomous driving cars to achieve a high degree of road safety. There are several challenges in trajectory prediction in real-world traffic scenarios, including…
In this paper, we present a learning approach to goal assignment and trajectory planning for unlabeled robots operating in 2D, obstacle-filled workspaces. More specifically, we tackle the unlabeled multi-robot motion planning problem with…
Improving performance in multiple domains is a challenging task, and often requires significant amounts of data to train and test models. Active learning techniques provide a promising solution by enabling models to select the most…
This paper proposes a novel active Simultaneous Localization and Mapping (SLAM) method with continuous trajectory optimization over a stochastic robot dynamics model. The problem is formalized as a stochastic optimal control over the…
Estimating the travel time of a path is of great importance to smart urban mobility. Existing approaches are either based on estimating the time cost of each road segment which are not able to capture many cross-segment complex factors, or…
State-of-the-art, high capacity deep neural networks not only require large amounts of labelled training data, they are also highly susceptible to label errors in this data, typically resulting in large efforts and costs and therefore…
Simultaneous Localization and Mapping (SLAM) is considered an ever-evolving problem due to its usage in many applications. Evaluation of SLAM is done typically using publicly available datasets which are increasing in number and the level…
In this work we discuss the problem of active learning. We present an approach that is based on A-optimal experimental design of ill-posed problems and show how one can optimally label a data set by partially probing it, and use it to train…
In this paper, we give a simple polynomial-time reduction of {L(p)-Labeling} on graphs with a small diameter to {Metric (Path) TSP}, which enables us to use numerous results on {(Metric) TSP}. On the practical side, we can utilize various…
Labeling data (e.g., labeling the people, objects, actions and scene in images) comprehensively and efficiently is a widely needed but challenging task. Numerous models were proposed to label various data and many approaches were designed…
The major challenge of learning from multi-label data has arisen from the overwhelming size of label space which makes this problem NP-hard. This problem can be alleviated by gradually involving easy to hard tags into the learning process.…
Navigation is one of the most widely used applications of the Location Based Services (LBS) which have become part of our digitally informed daily lives. Navigation services, however, have generally been designed for drivers rather than…
Answering exact shortest path distance queries is a fundamental task in graph theory. Despite a tremendous amount of research on the subject, there is still no satisfactory solution that can scale to billion-scale complex networks.…
The problem of Distance Edge Labeling is a variant of Distance Vertex Labeling (also known as $L_{2,1}$ labeling) that has been studied for more than twenty years and has many applications, such as frequency assignment. The Distance Edge…
Highly dynamic environments, with moving objects such as cars or humans, can pose a performance challenge for LiDAR SLAM systems that assume largely static scenes. To overcome this challenge and support the deployment of robots in real…
We recently proposed DOVER-Lap, a method for combining overlap-aware speaker diarization system outputs. DOVER-Lap improved upon its predecessor DOVER by using a label mapping method based on globally-informed greedy search. In this paper,…
This paper presents a global trajectory optimization framework for minimizing lap time in autonomous racing under uncertain vehicle dynamics. Optimizing the trajectory over the full racing horizon is computationally expensive, and tracking…
Learning with Label Proportions (LLP) is the problem of recovering the underlying true labels given a dataset when the data is presented in the form of bags. This paradigm is particularly suitable in contexts where providing individual…
Trajectory planning at high velocities and at the handling limits is a challenging task. In order to cope with the requirements of a race scenario, we propose a far-sighted two step, multi-layered graph-based trajectory planner, capable to…