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Making safe and human-like decisions is an essential capability of autonomous driving systems, and learning-based behavior planning presents a promising pathway toward achieving this objective. Distinguished from existing learning-based…

Trajectory prediction using deep neural networks (DNNs) is an essential component of autonomous driving (AD) systems. However, these methods are vulnerable to adversarial attacks, leading to serious consequences such as collisions. In this…

Learning is a process which can update decision rules, based on past experience, such that future performance improves. Traditionally, machine learning is often evaluated under the assumption that the future will be identical to the past in…

Neural networks have demonstrated state-of-the-art performance in various machine learning fields. However, the introduction of malicious perturbations in input data, known as adversarial examples, has been shown to deceive neural network…

After the tremendous development of neural networks trained by backpropagation, it is a good time to develop other algorithms for training neural networks to gain more insights into networks. In this paper, we propose a new algorithm for…

Close human-robot cooperation is a key enabler for new developments in advanced manufacturing and assistive applications. Close cooperation require robots that can predict human actions and intent, and understand human non-verbal cues.…

Cooperative trajectory planning methods for automated vehicles can solve traffic scenarios that require a high degree of cooperation between traffic participants. However, for cooperative systems to integrate into human-centered traffic,…

Humans routinely retrace paths in a novel environment both forwards and backwards despite uncertainty in their motion. This paper presents an approach for doing so. Given a demonstration of a path, a first network generates a path…

Trajectory similarity measures act as query predicates in trajectory databases, making them the key player in determining the query results. They also have a heavy impact on the query efficiency. An ideal measure should have the capability…

In swarm robotics, confrontation scenarios, including strategic confrontations, require efficient decision-making that integrates discrete commands and continuous actions. Traditional task and motion planning methods separate…

In crowd scenarios, predicting trajectories of pedestrians is a complex and challenging task depending on many external factors. The topology of the scene and the interactions between the pedestrians are just some of them. Due to…

This paper introduces a new generative deep learning network for human motion synthesis and control. Our key idea is to combine recurrent neural networks (RNNs) and adversarial training for human motion modeling. We first describe an…

Recent work has demonstrated that deep neural networks are vulnerable to adversarial examples---inputs that are almost indistinguishable from natural data and yet classified incorrectly by the network. In fact, some of the latest findings…

Training a neural network using backpropagation algorithm requires passing error gradients sequentially through the network. The backward locking prevents us from updating network layers in parallel and fully leveraging the computing…

Learning auxiliary tasks, such as multiple predictions about the world, can provide many benefits to reinforcement learning systems. A variety of off-policy learning algorithms have been developed to learn such predictions, but as yet there…

Recent advances in reinforcement learning have inspired increasing interest in learning user modeling adaptively through dynamic interactions, e.g., in reinforcement learning based recommender systems. Reward function is crucial for most of…

We propose a new family of neural networks to predict the behaviors of physical systems by learning their underpinning constraints. A neural projection operator lies at the heart of our approach, composed of a lightweight network with an…

The Forward-Forward algorithm is an alternative learning method which consists of two forward passes rather than a forward and backward pass employed by backpropagation. Forward-Forward networks employ layer local loss functions which are…

Traditional trajectory planning methods for autonomous vehicles have several limitations. For example, heuristic and explicit simple rules limit generalizability and hinder complex motions. These limitations can be addressed using…

Cooperation between self-interested individuals is a widespread phenomenon in the natural world, but remains elusive in interactions between artificially intelligent agents. Instead, naive reinforcement learning algorithms typically…