相关论文: Adaptive Hyperparameter Tuning for Black-box LiDAR…

Prediction+optimization is a common real-world paradigm where we have to predict problem parameters before solving the optimization problem. However, the criteria by which the prediction model is trained are often inconsistent with the goal…

Reduced order models, in particular the reduced basis method, rely on empirically built and problem dependent basis functions that are constructed during an off-line stage. In the on-line stage, the precomputed problem-dependent solution…

The offline time of the reduced basis method can be very long given a large training set of parameter samples. This usually happens when the system has more than two independent parameters. On the other hand, if the training set includes…

Conversational agents are usually designed for closed-world environments. Unfortunately, users can behave unexpectedly. Based on the open-world environment, we often encounter the situation that the training and test data are sampled from…

3D object detection is one of the most important tasks in 3D vision perceptual system of autonomous vehicles. In this paper, we propose a novel two stage 3D object detection method aimed at get the optimal solution of object location in 3D…

We propose in this paper a tracking algorithm which is able to adapt itself to different scene contexts. A feature pool is used to compute the matching score between two detected objects. This feature pool includes 2D, 3D displacement…

Radar ensures robust sensing capabilities in adverse weather conditions, yet challenges remain due to its high inherent noise level. Existing radar odometry has overcome these challenges with strategies such as filtering spurious points,…

Offline reinforcement learning enables agents to leverage large pre-collected datasets of environment transitions to learn control policies, circumventing the need for potentially expensive or unsafe online data collection. Significant…

In this paper, we propose a novel form of the loss function to increase the performance of LiDAR-based 3d object detection and obtain more explainable and convincing uncertainty for the prediction. The loss function was designed using…

We present an online-adaptive hyperreduced reduced basis element method for model order reduction of parameterized, component-based nonlinear systems. The method, in the offline phase, prepares a library of hyperreduced archetype components…

Trajectory prediction systems are critical for autonomous vehicle safety, yet remain vulnerable to adversarial attacks that can cause catastrophic traffic behavior misinterpretations. Existing attack methods require white-box access with…

Deep learning has recently become one of the most compute/data-intensive methods and is widely used in many research areas and businesses. One of the critical challenges of deep learning is that it has many parameters that can be adjusted,…

The choices of hyperparameters have critical effects on the performance of machine learning models. In this paper, we present a general framework that is able to construct an adaptive optimizer, which automatically adjust the appropriate…

Data augmentations are important in training high-performance 3D object detectors for point clouds. Despite recent efforts on designing new data augmentations, perhaps surprisingly, most state-of-the-art 3D detectors only use a few simple…

We address the problem of training models with black-box and hard-to-optimize metrics by expressing the metric as a monotonic function of a small number of easy-to-optimize surrogates. We pose the training problem as an optimization over a…

Accurate 3D multi-object tracking (MOT) is vital for autonomous vehicles, yet LiDAR and camera-based methods degrade in adverse weather. Meanwhile, Radar-based solutions remain robust but often suffer from limited vertical resolution and…

We propose a framework for tightly-coupled lidar inertial odometry via smoothing and mapping, LIO-SAM, that achieves highly accurate, real-time mobile robot trajectory estimation and map-building. LIO-SAM formulates lidar-inertial odometry…

Directly learning multiple 3D objects motion from sequential images is difficult, while the geometric bundle adjustment lacks the ability to localize the invisible object centroid. To benefit from both the powerful object understanding…

Adaptive robots in dynamic production environments require robust perception capabilities, including 6D pose estimation and multi-object tracking. To address limitations in real-world data dependency, noise robustness, and spatiotemporal…

Despite the possibility to quickly compute reachable sets of large-scale linear systems, current methods are not yet widely applied by practitioners. The main reason for this is probably that current approaches are not push-button-capable…