相关论文: Learning of Multi-Context Models for Autonomous Un…

Most real-world datasets, and particularly those collected from physical systems, are full of noise, packet loss, and other imperfections. However, most specification mining, anomaly detection and other such algorithms assume, or even…

Forecasting violent conflict at high spatial and temporal resolution remains a central challenge for both researchers and policymakers. This study presents a novel neural network architecture for forecasting three distinct types of violence…

The technology for autonomous vehicles is close to replacing human drivers by artificial systems endowed with high-level decision-making capabilities. In this regard, systems must learn about the usual vehicle's behavior to predict imminent…

We propose ContextLM, a framework that implicitly learns multi-token prediction by augmenting standard pretraining with an intrinsic next-context prediction objective. ContextLM builds a language model on top of context embeddings that span…

We develop a hierarchical LLM-task-motion planning and replanning framework to efficiently ground an abstracted human command into tangible Autonomous Underwater Vehicle (AUV) control through enhanced representations of the world. We also…

This work presents an end-to-end trainable deep bidirectional LSTM (Long-Short Term Memory) model for image captioning. Our model builds on a deep convolutional neural network (CNN) and two separate LSTM networks. It is capable of learning…

We investigate the use of in-context learning and prompt engineering to estimate the contributions of training data in the outputs of instruction-tuned large language models (LLMs). We propose two novel approaches: (1) a similarity-based…

The adaptivity and maneuvering capabilities of Autonomous Underwater Vehicles (AUVs) have drawn significant attention in oceanic research, due to the unpredictable disturbances and strong coupling among the AUV's degrees of freedom. In this…

Moving in dynamic pedestrian environments is one of the important requirements for autonomous mobile robots. We present a model-based reinforcement learning approach for robots to navigate through crowded environments. The navigation policy…

Autonomous navigation is usually trained offline in diverse scenarios and fine-tuned online subject to real-world experiences. However, the real world is dynamic and changeable, and many environmental encounters/effects are not accounted…

Urban environments manifest a high level of complexity, and therefore it is of vital importance for safety systems embedded within autonomous vehicles (AVs) to be able to accurately predict the short-term future motion of nearby agents.…

Autonomous underwater vehicles (AUV) have become the de facto vehicle for remote operations involving oceanography, inspection, and monitoring tasks. These vehicles operate in different and often challenging environments; hence, the design…

Context is an essential capability for robots that are to be as adaptive as possible in challenging environments. Although there are many context modeling efforts, they assume a fixed structure and number of contexts. In this paper, we…

With an increasing emphasis on driving down the costs of Operations and Maintenance (O&M) in the Offshore Wind (OSW) sector, comes the requirement to explore new methodology and applications of Deep Learning (DL) to the domain.…

Anomaly detection in connected autonomous vehicles (CAVs) is crucial for maintaining safe and reliable transportation networks, as CAVs can be susceptible to sensor malfunctions, cyber-attacks, and unexpected environmental disruptions. This…

Key challenges in developing underwater acoustic localization methods are related to the combined effects of high reverberation in intricate environments. To address such challenges, recent studies have shown that with a properly designed…

A robust and reliable semantic segmentation in adverse weather conditions is very important for autonomous cars, but most state-of-the-art approaches only achieve high accuracy rates in optimal weather conditions. The reason is that they…

For underwater vehicles, robotic applications have the added difficulty of operating in highly unstructured and dynamic environments. Environmental effects impact not only the dynamics and controls of the robot but also the perception and…

Autonomous Underwater Vehicles (AUVs) are increasingly being used to support scientific research and monitoring studies. One such application is in benthic habitat mapping where these vehicles collect seafloor imagery that complements…

This thesis tackles the problem of learning efficient representations of complex, structured data with a natural application to web page and element classification. We hypothesise that the context around the element inside the web page is…