相关论文: PreTraM: Self-Supervised Pre-training via Connecti…

We propose a new self-supervised method for pre-training the backbone of deep perception models operating on point clouds. The core idea is to train the model on a pretext task which is the reconstruction of the surface on which the 3D…

Reliable estimation of terrain traversability is critical for the successful deployment of autonomous systems in wild, outdoor environments. Given the lack of large-scale annotated datasets for off-road navigation, strictly-supervised…

Motion trajectory planning is one crucial aspect for automated vehicles, as it governs the own future behavior in a dynamically changing environment. A good utilization of a vehicle's characteristics requires the consideration of the…

Self-supervised learning methods are gaining increasing traction in computer vision due to their recent success in reducing the gap with supervised learning. In natural language processing (NLP) self-supervised learning and transformers are…

We propose proximal backpropagation (ProxProp) as a novel algorithm that takes implicit instead of explicit gradient steps to update the network parameters during neural network training. Our algorithm is motivated by the step size…

Pre-trained models are nowadays a fundamental component of machine learning research. In continual learning, they are commonly used to initialize the model before training on the stream of non-stationary data. However, pre-training is…

Large-scale deep neural networks (DNN) exhibit excellent performance for various tasks. As DNNs and datasets grow, distributed training becomes extremely time-consuming and demands larger clusters. A main bottleneck is the resulting…

Human trajectory prediction plays a crucial role in applications such as autonomous navigation and video surveillance. While recent works have explored the integration of human skeleton sequences to complement trajectory information,…

Many applications of machine learning require a model to make accurate pre-dictions on test examples that are distributionally different from training ones, while task-specific labels are scarce during training. An effective approach to…

Human state detection and behavior prediction have seen significant advancements with the rise of machine learning and multimodal sensing technologies. However, predicting prosocial behavior intentions in mobility scenarios, such as helping…

In trajectory design, fuel consumption and trajectory reachability are two key performance indicators for low-thrust missions. This paper proposes general-purpose pretrained neural networks to predict these metrics. The contributions of…

Pre-training is prevalent in deep learning for vision and text data, leveraging knowledge from other datasets to enhance downstream tasks. However, for tabular data, the inherent heterogeneity in attribute and label spaces across datasets…

Recent developments in large language models have sparked interest in efficient pretraining methods. Stagewise training approaches to improve efficiency, like gradual stacking and layer dropping (Reddi et al, 2023; Zhang & He, 2020), have…

Contrastive self-supervised learning methods famously produce high quality transferable representations by learning invariances to different data augmentations. Invariances established during pre-training can be interpreted as strong…

Self-supervised learning has emerged as a powerful paradigm for label-free model pretraining, particularly in the video domain, where manual annotation is costly and time-intensive. However, existing self-supervised approaches employ…

Accurate prediction of human behavior is crucial for AI systems to effectively support real-world applications, such as autonomous robots anticipating and assisting with human tasks. Real-world scenarios frequently present challenges such…

Automated driving fundamentally requires knowledge about the surrounding geometry of the scene. Modern approaches use only captured images to predict occupancy maps that represent the geometry. Training these approaches requires accurate…

Obstacle avoidance from monocular images is a challenging problem for robots. Though multi-view structure-from-motion could build 3D maps, it is not robust in textureless environments. Some learning based methods exploit human demonstration…

Deploying machine learning models in resource-constrained environments, such as edge devices or rapid prototyping scenarios, increasingly demands distillation of large datasets into significantly smaller yet informative synthetic datasets.…

Massive data is often considered essential for deep learning applications, but it also incurs significant computational and infrastructural costs. Therefore, dataset pruning (DP) has emerged as an effective way to improve data efficiency by…