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We introduce InverseFaceNet, a deep convolutional inverse rendering framework for faces that jointly estimates facial pose, shape, expression, reflectance and illumination from a single input image. By estimating all parameters from just a…
Convolutional Neural Networks (CNNs) have achieved comparable error rates to well-trained human on ILSVRC2014 image classification task. To achieve better performance, the complexity of CNNs is continually increasing with deeper and bigger…
Deep Convolution Neural Networks (CNNs) can easily be fooled by subtle, imperceptible changes to the input images. To address this vulnerability, adversarial training creates perturbation patterns and includes them in the training set to…
Despite impressive performance on numerous visual tasks, Convolutional Neural Networks (CNNs) --- unlike brains --- are often highly sensitive to small perturbations of their input, e.g. adversarial noise leading to erroneous decisions. We…
The dominant way to control a robot manipulator uses hand-crafted differential equations leveraging some form of inverse kinematics / dynamics. We propose a simple, versatile joint-level controller that dispenses with differential equations…
Porting state of the art deep learning algorithms to resource constrained compute platforms (e.g. VR, AR, wearables) is extremely challenging. We propose a fast, compact, and accurate model for convolutional neural networks that enables…
Lane detection in driving scenes is an important module for autonomous vehicles and advanced driver assistance systems. In recent years, many sophisticated lane detection methods have been proposed. However, most methods focus on detecting…
A promising approach to autonomous driving is machine learning. In such systems, training datasets are created that capture the sensory input to a vehicle as well as the desired response. A disadvantage of using a learned navigation system…
We present the first deep learning model to successfully learn control policies directly from high-dimensional sensory input using reinforcement learning. The model is a convolutional neural network, trained with a variant of Q-learning,…
Reinforcement learning is considered as a promising direction for driving policy learning. However, training autonomous driving vehicle with reinforcement learning in real environment involves non-affordable trial-and-error. It is more…
With the development of convolution neural network, more and more researchers focus their attention on the advantage of CNN for face recognition task. In this paper, we propose a deep convolution network for learning a robust face…
The goal of this document is to provide a pedagogical introduction to the main concepts underpinning the training of deep neural networks using gradient descent; a process known as backpropagation. Although we focus on a very influential…
Deep neural networks trained on demonstrations of human actions give robot the ability to perform self-driving on the road. However, navigation in a pedestrian-rich environment, such as a campus setup, is still challenging---one needs to…
Deep neural networks (DNN) have shown great capacity of modeling a dynamical system; nevertheless, they usually do not obey physics constraints such as conservation laws. This paper proposes a new learning framework named ConCerNet to…
We address the problem of directional semantic grasping, that is, grasping a specific object from a specific direction. We approach the problem using deep reinforcement learning via a double deep Q-network (DDQN) that learns to map…
We propose a Convolutional Neural Network (CNN)-based model "RotationNet," which takes multi-view images of an object as input and jointly estimates its pose and object category. Unlike previous approaches that use known viewpoint labels…
Understanding and following directions provided by humans can enable robots to navigate effectively in unknown situations. We present FollowNet, an end-to-end differentiable neural architecture for learning multi-modal navigation policies.…
We present an integrated approach for perception and control for an autonomous vehicle and demonstrate this approach in a high-fidelity urban driving simulator. Our approach first builds a model for the environment, then trains a policy…
As part of a complete software stack for autonomous driving, NVIDIA has created a neural-network-based system, known as PilotNet, which outputs steering angles given images of the road ahead. PilotNet is trained using road images paired…
Predicting the future motion of traffic agents is crucial for safe and efficient autonomous driving. To this end, we present PredictionNet, a deep neural network (DNN) that predicts the motion of all surrounding traffic agents together with…