相关论文: Robustifying the Deployment of tinyML Models for A…

Large Deep Neural Networks (DNNs) are the backbone of today's artificial intelligence due to their ability to make accurate predictions when being trained on huge datasets. With advancing technologies, such as the Internet of Things,…

Convolutional Neural Network (CNN) based Deep Learning (DL) has achieved great progress in many real-life applications. Meanwhile, due to the complex model structures against strict latency and memory restriction, the implementation of CNN…

Traffic light detection is crucial for environment perception and decision-making in autonomous driving. State-of-the-art detectors are built upon deep Convolutional Neural Networks (CNNs) and have exhibited promising performance. However,…

We present an end-to-end imitation learning system for agile, off-road autonomous driving using only low-cost sensors. By imitating a model predictive controller equipped with advanced sensors, we train a deep neural network control policy…

End-to-End driving is a promising paradigm as it circumvents the drawbacks associated with modular systems, such as their overwhelming complexity and propensity for error propagation. Autonomous driving transcends conventional traffic…

Autonomous Micro Aerial Vehicles (MAVs), with a form factor of 10cm in diameter, are an emerging technology thanks to the broad applicability enabled by their onboard intelligence. However, these platforms are strongly limited in the…

For an autonomous corridor following task where the environment is continuously changing, several forms of environmental noise prevent an automated feature extraction procedure from performing reliably. Moreover, in cases where pre-defined…

Data availability has dramatically increased in recent years, driving model-based control methods to exploit learning techniques for improving the system description, and thus control performance. Two key factors that hinder the practical…

Operating autonomous vehicles at the absolute limits of handling requires precise, real-time identification of highly non-linear tire dynamics. However, traditional online optimization methods suffer from "cold-start" initialization…

Convolutional Neural Networks (CNN) have been successfully applied to autonomous driving tasks, many in an end-to-end manner. Previous end-to-end steering control methods take an image or an image sequence as the input and directly predict…

Despite rapid progress in autonomous driving, reliable training and evaluation of driving systems remain fundamentally constrained by the lack of scalable and interactive simulation environments. Recent generative video models achieve…

Graph Neural Networks (GNNs) are powerful deep learning models to generate node embeddings on graphs. When applying deep GNNs on large graphs, it is still challenging to perform training in an efficient and scalable way. We propose a novel…

An increasing number of applications in computer vision, specially, in medical imaging and remote sensing, become challenging when the goal is to classify very large images with tiny informative objects. Specifically, these classification…

Multimodal Large Language Models (MLLMs) are undergoing rapid progress and represent the frontier of AI development. However, their training and inference efficiency have emerged as a core bottleneck in making MLLMs more accessible and…

Neural Networks (NNs) trained through supervised learning struggle with managing edge-case scenarios common in real-world driving due to the intractability of exhaustive datasets covering all edge-cases, making knowledge-driven approaches,…

Recent advances in deep reinforcement learning (DRL) have largely promoted the performance of adaptive traffic signal control (ATSC). Nevertheless, regarding the implementation, most works are cumbersome in terms of storage and computation.…

Optimal control provides a principled framework for transforming dynamical system models into intelligent decision-making, yet classical computational approaches are often too expensive for real-time deployment in dynamic or uncertain…

Simulators can generate virtually unlimited driving data, yet imitation learning policies in simulation still struggle to achieve robust closed-loop performance. Motivated by this gap, we empirically study how misalignment between…

Autonomous drone racing competitions are a proxy to improve unmanned aerial vehicles' perception, planning, and control skills. The recent emergence of autonomous nano-sized drone racing imposes new challenges, as their ~10cm form factor…

Deploying autonomous agents in real world environments is challenging, particularly for navigation, where systems must adapt to situations they have not encountered before. Traditional learning approaches require substantial amounts of…