相关论文: Social-Implicit: Rethinking Trajectory Prediction …

The commonly used metrics for motion prediction do not correlate well with a self-driving vehicle's system-level performance. The most common metrics are average displacement error (ADE) and final displacement error (FDE), which omit many…

Current evaluation methods for autonomous driving prediction models rely heavily on simplistic metrics such as Average Displacement Error (ADE) and Final Displacement Error (FDE). While these metrics offer basic performance assessments,…

The integration of discrete algorithmic components in deep learning architectures has numerous applications. Recently, Implicit Maximum Likelihood Estimation (IMLE, Niepert, Minervini, and Franceschi 2021), a class of gradient estimators…

Agentic artificial intelligence (AI) -- multi-agent systems that combine large language models with external tools and autonomous planning -- are rapidly transitioning from research laboratories into high-stakes domains. Our earlier "Basic"…

Diffusion-based models have recently shown strong performance in trajectory planning, as they are capable of capturing diverse, multimodal distributions of complex behaviors. A key limitation of these models is their slow inference speed,…

Mixture distributions with dynamic weights are an efficient way of modeling loss data characterized by heavy tails. However, maximum likelihood estimation of this family of models is difficult, mostly because of the need to evaluate…

Most evaluations of autonomous driving policies under adversarial conditions are conducted in simulation, due to cost efficiency and the absence of physical risk. However, purely virtual testing fails to capture structural inconsistencies,…

Whereas diverse variations of diffusion models exist, extending the linear diffusion into a nonlinear diffusion process is investigated by very few works. The nonlinearity effect has been hardly understood, but intuitively, there would be…

Deep learning-based trajectory prediction models for autonomous driving often struggle with generalization to out-of-distribution (OOD) scenarios, sometimes performing worse than simple rule-based models. To address this limitation, we…

While likelihood-based inference and its variants provide a statistically efficient and widely applicable approach to parametric inference, their application to models involving intractable likelihoods poses challenges. In this work, we…

In order to learn the complex features of large spatio-temporal data, models with large parameter sets are often required. However, estimating a large number of parameters is often infeasible due to the computational and memory costs of…

An emerging area of research aims to learn deep generative models with limited training data. Prior generative models like GANs and diffusion models require a lot of data to perform well, and their performance degrades when they are trained…

We investigate the problem of estimating the average treatment effect (ATE) under a very general setup where the covariates can be high-dimensional, highly correlated, and can have sparse nonlinear effects on the propensity and outcome…

Likelihood-free inference methods typically make use of a distance between simulated and real data. A common example is the maximum mean discrepancy (MMD), which has previously been used for approximate Bayesian computation, minimum…

The performance of deep learning models is critically dependent on sophisticated optimization strategies. While existing optimizers have shown promising results, many rely on first-order Exponential Moving Average (EMA) techniques, which…

We propose a novel targeted maximum likelihood estimator (TMLE) for quantiles in semiparametric missing data models. Our proposed estimator is locally efficient, $\sqrt{n}$-consistent, asymptotically normal, and doubly robust, under…

Distributed statistical inference has recently attracted immense attention. The asymptotic efficiency of the maximum likelihood estimator (MLE), the one-step MLE, and the aggregated estimating equation estimator are established for…

Adaptive experimental designs have gained popularity in clinical trials and online experiments. Unlike traditional, fixed experimental designs, adaptive designs can dynamically adjust treatment randomization probabilities and other design…

Recent advances in imitation learning, particularly using generative modelling techniques like diffusion, have enabled policies to capture complex multi-modal action distributions. However, these methods often require large datasets and…

Maximum Likelihood Estimators (MLE) has many good properties. For example, the asymptotic variance of MLE solution attains equality of the asymptotic Cram{\'e}r-Rao lower bound (efficiency bound), which is the minimum possible variance for…