相关论文: An Online Learning-based Framework for Tracking

We approach the fundamental problem of obstacle avoidance for robotic systems via the lens of online learning. In contrast to prior work that either assumes worst-case realizations of uncertainty in the environment or a stationary…

Graph learning is the fundamental task of estimating unknown graph connectivity from available data. Typical approaches assume that not only is all information available simultaneously but also that all nodes can be observed. However, in…

Sparse coding--that is, modelling data vectors as sparse linear combinations of basis elements--is widely used in machine learning, neuroscience, signal processing, and statistics. This paper focuses on the large-scale matrix factorization…

Learning Bayesian networks is often cast as an optimization problem, where the computational task is to find a structure that maximizes a statistically motivated score. By and large, existing learning tools address this optimization problem…

Despite much research targeted at enabling conventional machine learning models to continually learn tasks and data distributions sequentially without forgetting the knowledge acquired, little effort has been devoted to account for more…

Federated learning is an established method for training machine learning models without sharing training data. However, recent work has shown that it cannot guarantee data privacy as shared gradients can still leak sensitive information.…

This work presents an approach for modelling and tracking previously unseen objects for robotic grasping tasks. Using the motion of objects in a scene, our approach segments rigid entities from the scene and continuously tracks them to…

Sequential prediction problems such as imitation learning, where future observations depend on previous predictions (actions), violate the common i.i.d. assumptions made in statistical learning. This leads to poor performance in theory and…

Traditional tracking-by-detection systems typically employ Kalman filters (KF) for state estimation. However, the KF requires domain-specific design choices and it is ill-suited to handling non-linear motion patterns. To address these…

Data-driven control methods based on subspace representations are powerful but are often limited to linear time-invariant systems where the model order is known. A key challenge is developing online data-driven control algorithms for…

In this paper, we present a framework used to construct and analyze algorithms for online optimization problems with deadlines or with delay over a metric space. Using this framework, we present algorithms for several different problems. We…

Compared with short-term tracking, the long-term tracking task requires determining the tracked object is present or absent, and then estimating the accurate bounding box if present or conducting image-wide re-detection if absent. Until…

Accurate traffic flow estimation and prediction are critical for the efficient management of transportation systems, particularly under increasing urbanization. Traditional methods relying on static sensors often suffer from limited spatial…

Graph filters are a staple tool for processing signals over graphs in a multitude of downstream tasks. However, they are commonly designed for graphs with a fixed number of nodes, despite real-world networks typically grow over time. This…

We consider systems that require timely monitoring of sources over a communication network, where the cost of delayed information is unknown, time-varying and possibly adversarial. For the single source monitoring problem, we design…

We consider the problem of aggregating models learned from sequestered, possibly heterogeneous datasets. Exploiting tools from Bayesian nonparametrics, we develop a general meta-modeling framework that learns shared global latent structures…

State estimation remains a fundamental challenge across numerous domains, from autonomous driving, aircraft tracking to quantum system control. Although Bayesian filtering has been the cornerstone solution, its classical model-based…

Lifelong learning can be viewed as a continuous transfer learning procedure over consecutive tasks, where learning a given task depends on accumulated knowledge --- the so-called knowledge base. Most published work on lifelong learning…

Deep learning has brought an unprecedented progress in computer vision and significant advances have been made in predicting subjective properties inherent to visual data (e.g., memorability, aesthetic quality, evoked emotions, etc.).…

Inherent in virtually every iterative machine learning algorithm is the problem of hyper-parameter tuning, which includes three major design parameters: (a) the complexity of the model, e.g., the number of neurons in a neural network, (b)…