Related papers: What data do we need for training an AV motion pla…

Autonomous vehicle (AV) stacks have traditionally relied on decomposed approaches, with separate modules handling perception, prediction, and planning. However, this design introduces information loss during inter-module communication,…

Imitation learning enables robots to learn from demonstrations. Previous imitation learning algorithms usually assume access to optimal expert demonstrations. However, in many real-world applications, this assumption is limiting. Most…

Drones are promising for data collection in precision agriculture, however, they are limited by their battery capacity. Efficient path planners are therefore required. This paper presents a drone path planner trained using Reinforcement…

Event cameras offer high temporal resolution and low latency, making them ideal sensors for high-speed robotic applications where conventional cameras suffer from image degradations such as motion blur. In addition, their low power…

Instruction tuning for large language models (LLMs) has gained attention from researchers due to its ability to unlock the potential of LLMs in following instructions. While instruction tuning offers advantages for facilitating the…

State-of-the-art machine learning often follows a two-stage process: $(i)$~pre-training on large, general-purpose datasets; $(ii)$~fine-tuning on task-specific data. In fine-tuning, selecting training examples that closely reflect the…

Real-world data is often incomplete and contains missing values. To train accurate models over real-world datasets, users need to spend a substantial amount of time and resources imputing and finding proper values for missing data items. In…

We present a learning-based planner that aims to robustly drive a vehicle by mimicking human drivers' driving behavior. We leverage a mid-to-mid approach that allows us to manipulate the input to our imitation learning network freely. With…

Driving in a human-like manner is important for an autonomous vehicle to be a smart and predictable traffic participant. To achieve this goal, parameters of the motion planning module should be carefully tuned, which needs great effort and…

Collecting large-scale naturalistic driving data is essential for training robust autonomous driving planners. However, real-world datasets often contain a substantial amount of repetitive and low-value samples, which lead to excessive…

Complex, long-horizon planning and its combinatorial nature pose steep challenges for learning-based agents. Difficulties in such settings are exacerbated in low data regimes where over-fitting stifles generalization and compounding errors…

This study focuses on inverting time-domain airborne electromagnetic data in 2D by training a neural-network to understand the relationship between data and conductivity, thereby removing the need for expensive forward modeling during the…

Human activity recognition (HAR) using wearable sensors has benefited much less from recent advances in Machine Learning than fields such as computer vision and natural language processing. This is to a large extent due to the lack of large…

We study the empirical scaling laws of a family of encoder-decoder autoregressive transformer models on the task of joint motion forecasting and planning in the autonomous driving domain. Using a 500 thousand hours driving dataset, we…

Neural networks are susceptible to adversarial examples-small input perturbations that cause models to fail. Adversarial training is one of the solutions that stops adversarial examples; models are exposed to attacks during training and…

Simulating realistic radar data has the potential to significantly accelerate the development of data-driven approaches to radar processing. However, it is fraught with difficulty due to the notoriously complex image formation process. Here…

We investigate data filtering for large model pretraining via new scaling studies that target the high compute, data-scarce regime. In spite of an apparently common belief that filtering data to include only high-quality information is…

In recent years, deep learning models have resulted in a huge amount of progress in various areas, including computer vision. By nature, the supervised training of deep models requires a large amount of data to be available. This ideal case…

Imitation learning is a promising approach for learning robot policies with user-provided data. The way demonstrations are provided, i.e., demonstration modality, influences the quality of the data. While existing research shows that…

Autonomous driving algorithms rely heavily on learning-based models, which require large datasets for training. However, there is often a large amount of redundant information in these datasets, while collecting and processing these…