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Vehicle trajectory prediction is crucial for autonomous driving and advanced driver assistant systems. While existing approaches may sample from a predicted distribution of vehicle trajectories, they lack the ability to explore it -- a key…

In robotics, it is essential to be able to plan efficiently in high-dimensional continuous state-action spaces for long horizons. For such complex planning problems, unguided uniform sampling of actions until a path to a goal is found is…

Generative Adversarial Networks (GANs), as a framework for estimating generative models via an adversarial process, have attracted huge attention and have proven to be powerful in a variety of tasks. However, training GANs is well known for…

Adversarial training (AT) is always formulated as a minimax problem, of which the performance depends on the inner optimization that involves the generation of adversarial examples (AEs). Most previous methods adopt Projected Gradient…

Generative adversarial networks (GANs) are pow- erful generative models based on providing feed- back to a generative network via a discriminator network. However, the discriminator usually as- sesses individual samples. This prevents the…

We propose a discrete latent distribution for Generative Adversarial Networks (GANs). Instead of drawing latent vectors from a continuous prior, we sample from a finite set of learnable latents. However, a direct parametrization of such a…

The multi-robot adaptive sampling problem aims at finding trajectories for a team of robots to efficiently sample the phenomenon of interest within a given endurance budget of the robots. In this paper, we propose a robust and scalable…

The Generative Adversarial Networks (GAN) framework is a well-established paradigm for probability matching and realistic sample generation. While recent attention has been devoted to studying the theoretical properties of such models, a…

Human mobility trajectories are widely studied in public health and social science, where different demographic groups exhibit significantly different mobility patterns. However, existing trajectory generation models rarely capture this…

We study the problem of learning a mixture of multiple linear dynamical systems (LDSs) from unlabeled short sample trajectories, each generated by one of the LDS models. Despite the wide applicability of mixture models for time-series data,…

Numerous techniques have been proposed for generating adversarial examples in white-box settings under strict Lp-norm constraints. However, such norm-bounded examples often fail to align well with human perception, and only a few methods…

As the advanced driver assistance system (ADAS) functions become more sophisticated, the strategies that properly coordinate interaction and communication among the ADAS functions are required for autonomous driving. This paper proposes a…

Conventional wisdom holds that large-batch training is fundamentally incompatible with Reinforcement Learning (RL) - beyond a modest threshold, increasing batch sizes typically yields diminishing returns or performance degradation due to…

We present a continual learning approach for generative adversarial networks (GANs), by designing and leveraging parameter-efficient feature map transformations. Our approach is based on learning a set of global and task-specific…

Generative Adversarial Networks (GANs) are performant generative methods yielding high-quality samples. However, under certain circumstances, the training of GANs can lead to mode collapse or mode dropping, i.e. the generative models not…

Frontier commercial generative models face a growing threat from distillation, whereby a distiller harvests generated responses and trains a competing model of its own at drastically lower cost. Existing defenses either rely on modifying…

In differentiable neural architecture search (NAS) algorithms like DARTS, the training set used to update model weight and the validation set used to update model architectures are sampled from the same data distribution. Thus, the uncommon…

Neural samplers such as variational autoencoders (VAEs) or generative adversarial networks (GANs) approximate distributions by transforming samples from a simple random source---the latent space---to samples from a more complex distribution…

Recent techniques built on Generative Adversarial Networks (GANs), such as Cycle-Consistent GANs, are able to learn mappings among different domains built from unpaired datasets, through min-max optimization games between generators and…

In-Batch contrastive learning is a state-of-the-art self-supervised method that brings semantically-similar instances close while pushing dissimilar instances apart within a mini-batch. Its key to success is the negative sharing strategy,…