相关论文: Enhancing Trajectory Prediction using Sparse Outpu…

We draw upon a previously largely untapped literature on human collective intelligence as a source of inspiration for improving deep learning. Implicit in many algorithms that attempt to solve Deep Reinforcement Learning (DRL) tasks is the…

Uncertainty pervades through the modern robotic autonomy stack, with nearly every component (e.g., sensors, detection, classification, tracking, behavior prediction) producing continuous or discrete probabilistic distributions. Trajectory…

This paper presents a global trajectory optimization framework for minimizing lap time in autonomous racing under uncertain vehicle dynamics. Optimizing the trajectory over the full racing horizon is computationally expensive, and tracking…

Trajectory augmentation serves as a means to mitigate distributional shift in imitation learning. However, imitating trajectories that inadequately represent the original expert data can result in undesirable behaviors, particularly in…

Deep neural networks with lots of parameters are typically used for large-scale computer vision tasks such as image classification. This is a result of using dense matrix multiplications and convolutions. However, sparse computations are…

Accurate prediction of pedestrians' future motions is critical for intelligent driving systems. Developing models for this task requires rich datasets containing diverse sets of samples. However, the existing naturalistic trajectory…

Data assimilation, in its most comprehensive form, addresses the Bayesian inverse problem of identifying plausible state trajectories that explain noisy or incomplete observations of stochastic dynamical systems. Various approaches have…

Dropout is a common regularisation technique in deep learning that improves generalisation. Even though it introduces sparsity and thus potential for higher throughput, it usually cannot bring speed-ups on GPUs due to its unstructured…

Branch prediction is arguably one of the most important speculative mechanisms within a high-performance processor architecture. A common approach to improve branch prediction accuracy is to employ lengthy history records of previously seen…

Accumulating substantial volumes of real-world driving data proves pivotal in the realm of trajectory forecasting for autonomous driving. Given the heavy reliance of current trajectory forecasting models on data-driven methodologies, we aim…

Traditional machine learning methods usually minimize a simple loss function to learn a predictive model, and then use a complex performance measure to measure the prediction performance. However, minimizing a simple loss function cannot…

The success of DNN pruning has led to the development of energy-efficient inference accelerators that support pruned models with sparse weight and activation tensors. Because the memory layouts and dataflows in these architectures are…

Diffusion models have been successfully adapted to text generation tasks by mapping the discrete text into the continuous space. However, there exist nonnegligible gaps between training and inference, owing to the absence of the forward…

As real-world graphs expand in size, larger GNN models with billions of parameters are deployed. High parameter count in such models makes training and inference on graphs expensive and challenging. To reduce the computational and memory…

Individual-level human mobility prediction has emerged as a significant topic of research with applications in infectious disease monitoring, child, and elderly care. Existing studies predominantly focus on the microscopic aspects of human…

Tracking the ball is critical for video-based analysis of team sports. However, it is difficult, especially in low-resolution images, due to the small size of the ball, its speed that creates motion blur, and its often being occluded by…

Multi-object tracking in sports scenarios has become one of the focal points in computer vision, experiencing significant advancements through the integration of deep learning techniques. Despite these breakthroughs, challenges remain, such…

Predicting the future motion of vehicles has been studied using various techniques, including stochastic policies, generative models, and regression. Recent work has shown that classification over a trajectory set, which approximates…

Accurate prediction of human or vehicle trajectories with good diversity that captures their stochastic nature is an essential task for many applications. However, many trajectory prediction models produce unreasonable trajectory samples…

We introduce a randomly extrapolated primal-dual coordinate descent method that adapts to sparsity of the data matrix and the favorable structures of the objective function. Our method updates only a subset of primal and dual variables with…