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We present a generalization of Nesterov's accelerated gradient descent algorithm. Our algorithm (AGNES) provably achieves acceleration for smooth convex and strongly convex minimization tasks with noisy gradient estimates if the noise…

Modeling realistic and interactive multi-agent behavior is critical to autonomous driving and traffic simulation. However, existing diffusion and autoregressive approaches are limited by iterative sampling, sequential decoding, or…

Autonomous vehicles (AVs) require extensive testing in simulation, but test case generation for driving scenarios is laborious. The desired scenarios are often out-of-distribution and have precise requirements on interactions with the AV…

While Deep Neural Networks (DNNs) have established the fundamentals of DNN-based autonomous driving systems, they may exhibit erroneous behaviors and cause fatal accidents. To resolve the safety issues of autonomous driving systems, a…

The effectiveness of existing denoising algorithms typically relies on accurate pre-defined noise statistics or plenty of paired data, which limits their practicality. In this work, we focus on denoising in the more common case where noise…

Deep neural networks (DNNs) have been widely used in the fields such as natural language processing, computer vision and image recognition. But several studies have been shown that deep neural networks can be easily fooled by artificial…

Simulation systems have become an essential component in the development and validation of autonomous driving technologies. The prevailing state-of-the-art approach for simulation is to use game engines or high-fidelity computer graphics…

Predicting the health of components in complex dynamic systems such as an automobile poses numerous challenges. The primary aim of such predictive systems is to use the high-dimensional data acquired from different sensors and predict the…

One of the greatest challenges towards fully autonomous cars is the understanding of complex and dynamic scenes. Such understanding is needed for planning of maneuvers, especially those that are particularly frequent such as lane changes.…

We propose a light-weight, self-supervised adaptation for a visual navigation agent to generalize to unseen environment. Given an embodied agent trained in a noiseless environment, our objective is to transfer the agent to a noisy…

Training deep neural networks (DNNs) with limited supervision has been a popular research topic as it can significantly alleviate the annotation burden. Self-training has been successfully applied in semi-supervised learning tasks, but one…

The volume of image repositories continues to grow. Despite the availability of content-based addressing, we still lack a lightweight tool that allows us to discover images of distinct characteristics from a large collection. In this paper,…

Algorithms often carry out equally many computations for "easy" and "hard" problem instances. In particular, algorithms for finding nearest neighbors typically have the same running time regardless of the particular problem instance. In…

Vehicular communication systems face significant challenges due to high mobility and rapidly changing environments, which affect the channel over which the signals travel. To address these challenges, neural network (NN)-based channel…

Proximity graphs (PG) have gained increasing popularity as the state-of-the-art solutions to $k$-approximate nearest neighbor ($k$-ANN) search on high-dimensional data, which serves as a fundamental function in various fields, e.g.,…

In this work, we propose a training algorithm for an audio-visual automatic speech recognition (AV-ASR) system using deep recurrent neural network (RNN).First, we train a deep RNN acoustic model with a Connectionist Temporal Classification…

The main objective of this paper is to propose K-Nearest-Neighbor (KNN) algorithm for predicting NOx emissions from natural gas electrical generation turbines. The process of producing electricity is dynamic and rapidly changing due to many…

Automated lane changing is a critical feature for advanced autonomous driving systems. In recent years, reinforcement learning (RL) algorithms trained on traffic simulators yielded successful results in computing lane changing policies that…

We evaluated the effectiveness of an automated bird sound identification system in a situation that emulates a realistic, typical application. We trained classification algorithms on a crowd-sourced collection of bird audio recording data…

Training intelligent agents that can drive autonomously in various urban and highway scenarios has been a hot topic in the robotics society within the last decades. However, the diversity of driving environments in terms of road topology…