相关论文: Hybrid Model and Data Driven Algorithm for Online …

An accurate model of the environment and the dynamic agents acting in it offers great potential for improving motion planning. We present MILE: a Model-based Imitation LEarning approach to jointly learn a model of the world and a policy for…

End-to-end autonomous driving solutions, which directly process multimodal sensory data and output fine-grained control commands, have gradually become a mainstream direction with the development of autonomous driving technology. However,…

Model-free reinforcement learning has recently been shown to be effective at learning navigation policies from complex image input. However, these algorithms tend to require large amounts of interaction with the environment, which can be…

This paper fosters the idea that deep learning methods can be used to complement classical visual odometry pipelines to improve their accuracy and to associate uncertainty models to their estimations. We show that the biases inherent to the…

Vehicle-to-Everything (V2X) collaborative perception has recently gained significant attention due to its capability to enhance scene understanding by integrating information from various agents, e.g., vehicles, and infrastructure. However,…

In this work, we propose a novel adaptive grid mapping approach, the Adaptive Patched Grid Map, which enables a situational aware grid based perception for autonomous vehicles. Its structure allows a flexible representation of the…

The increasing reliance on numerical methods for controlling dynamical systems and training machine learning models underscores the need to devise algorithms that dependably and efficiently navigate complex optimization landscapes.…

The recent advancements in wireless technology enable connected autonomous vehicles (CAVs) to gather data via vehicle-to-vehicle (V2V) communication, such as processed LIDAR and camera data from other vehicles. In this work, we design an…

Accelerating model convergence in resource-constrained environments is essential for fast and efficient neural network training. This work presents learn2mix, a new training strategy that adaptively adjusts class proportions within batches,…

We propose a general method for combinatorial online learning problems whose offline optimization problem can be solved efficiently via a dynamic programming algorithm defined by an arbitrary min-sum recurrence. Examples include online…

Deep supervised models have an unprecedented capacity to absorb large quantities of training data. Hence, training on many datasets becomes a method of choice towards graceful degradation in unusual scenes. Unfortunately, different datasets…

We investigate online network topology identification from smooth nodal observations acquired in a streaming fashion. Different from non-adaptive batch solutions, our distinctive goal is to track the (possibly) dynamic adjacency matrix with…

Recursive Neural Networks are non-linear adaptive models that are able to learn deep structured information. However, these models have not yet been broadly accepted. This fact is mainly due to its inherent complexity. In particular, not…

Autonomous vehicles are more likely to be accepted if they drive accurately, comfortably, but also similar to how human drivers would. This is especially true when autonomous and human-driven vehicles need to share the same road. The main…

Autonomous agents perceive and interpret their surroundings by integrating multimodal inputs, such as vision, audio, and LiDAR. These perceptual modalities support retrieval tasks, such as place recognition in robotics. However, current…

High-definition maps provide precise environmental information essential for prediction and planning in autonomous driving systems. Due to the high cost of labeling and maintenance, recent research has turned to online HD map construction…

Although hash function learning algorithms have achieved great success in recent years, most existing hash models are off-line, which are not suitable for processing sequential or online data. To address this problem, this work proposes an…

We present a representation learning algorithm that learns a low-dimensional latent dynamical system from high-dimensional \textit{sequential} raw data, e.g., video. The framework builds upon recent advances in amortized inference methods…

Effective information analysis generally boils down to properly identifying the structure or geometry of the data, which is often represented by a graph. In some applications, this structure may be partly determined by design constraints or…

This paper proposes a new driving style recognition approach that allows autonomous vehicles (AVs) to perform trajectory predictions for surrounding vehicles with minimal data. Toward that end, we use a hybrid of offline and online methods…