相关论文: DiffTune: Auto-Tuning through Auto-Differentiation

Diffusion models excel at modeling complex and multimodal trajectory distributions for decision-making and control. Reward-gradient guided denoising has been recently proposed to generate trajectories that maximize both a differentiable…

Parameter tuning for vehicle controllers remains a costly and time-intensive challenge in automotive development. Traditional approaches rely on extensive real-world testing, making the process inefficient. We propose a multi-fidelity…

Delays endanger safety of autonomous systems operating in a rapidly changing environment, such as nondeterministic surrounding traffic participants in autonomous driving and high-speed racing. Unfortunately, delays are typically not…

Tuning hyperparameters of learning algorithms is hard because gradients are usually unavailable. We compute exact gradients of cross-validation performance with respect to all hyperparameters by chaining derivatives backwards through the…

We consider the problem of sequential robotic manipulation of deformable objects using tools. Previous works have shown that differentiable physics simulators provide gradients to the environment state and help trajectory optimization to…

Differentiable simulators provide analytic gradients, enabling more sample-efficient learning algorithms and paving the way for data intensive learning tasks such as learning from images. In this work, we demonstrate that locomotion…

Multi-objective optimization problems, which require the simultaneous optimization of multiple objectives, are prevalent across numerous applications. Existing multi-objective optimization methods often rely on manually-tuned aggregation…

Multi-robot formation control has various applications in domains such as vehicle troops, platoons, payload transportation, and surveillance. Maintaining formation in a vehicle platoon requires designing a suitable control scheme that can…

Autonomous vehicle (AV) stacks are typically built in a modular fashion, with explicit components performing detection, tracking, prediction, planning, control, etc. While modularity improves reusability, interpretability, and…

Autonomous driving requires reasoning about interactions with surrounding traffic. A prevailing approach is large-scale imitation learning on expert driving datasets, aimed at generalizing across diverse real-world scenarios. For online…

MLtuner automatically tunes settings for training tunables (such as the learning rate, the momentum, the mini-batch size, and the data staleness bound) that have a significant impact on large-scale machine learning (ML) performance.…

Many artificial intelligence models process input data of different lengths and resolutions, making the shape of the tensors dynamic. The performance of these models depends on the shape of the tensors, which makes it difficult to optimize…

Gradient-free optimizers allow for tackling problems regardless of the smoothness or differentiability of their objective function, but they require many more iterations to converge when compared to gradient-based algorithms. This has made…

Up-to-date High-Definition (HD) maps are essential for self-driving cars. To achieve constantly updated HD maps, we present a deep neural network (DNN), Diff-Net, to detect changes in them. Compared to traditional methods based on object…

We consider joint trajectory generation and tracking control for under-actuated robotic systems. A common solution is to use a layered control architecture, where the top layer uses a simplified model of system dynamics for trajectory…

Diffusion models have significantly advanced the field of generative modeling. However, training a diffusion model is computationally expensive, creating a pressing need to adapt off-the-shelf diffusion models for downstream generation…

We implement a quantum optimal control algorithm based on automatic differentiation and harness the acceleration afforded by graphics processing units (GPUs). Automatic differentiation allows us to specify advanced optimization criteria and…

Differential drive robots are widely used in various scenarios thanks to their straightforward principle, from household service robots to disaster response field robots. There are several types of driving mechanisms for real-world…

Diffusion models have demonstrated empirical successes in various applications and can be adapted to task-specific needs via guidance. This paper studies a form of gradient guidance for adapting a pre-trained diffusion model towards…

Stochastic Gradient Decent (SGD) is one of the core techniques behind the success of deep neural networks. The gradient provides information on the direction in which a function has the steepest rate of change. The main problem with basic…