相关论文: Learning and Predicting Multimodal Vehicle Action …

Occlusion-aware prediction remains a critical challenge in autonomous driving due to the inherent uncertainty of unobserved regions. Existing approaches either overestimate risk based on reachable states or struggle to predict accurate…

A policy in deep reinforcement learning (RL), either deterministic or stochastic, is commonly parameterized as a Gaussian distribution alone, limiting the learned behavior to be unimodal. However, the nature of many practical…

This paper introduces a new technique for learning probabilistic models of mass and friction distributions of unknown objects, and performing robust sliding actions by using the learned models. The proposed method is executed in two…

Predicting the possible future trajectories of the surrounding dynamic agents is an essential requirement in autonomous driving. These trajectories mainly depend on the surrounding static environment, as well as the past movements of those…

Diffusion models have shown incredible capabilities as generative models; indeed, they power the current state-of-the-art models on text-conditioned image generation such as Imagen and DALL-E 2. In this work we review, demystify, and unify…

Learning under one-sided feedback (i.e., where we only observe the labels for examples we predicted positively on) is a fundamental problem in machine learning -- applications include lending and recommendation systems. Despite this, there…

Real world learning scenarios involve a nonstationary distribution of classes with sequential dependencies among the samples, in contrast to the standard machine learning formulation of drawing samples independently from a fixed, typically…

The alignment of large language models (LLMs) with human values increasingly relies on using other LLMs as automated judges, or ``autoraters''. However, their reliability is limited by a foundational issue: they are trained on discrete…

When machine learning models are deployed on a test distribution different from the training distribution, they can perform poorly, but overestimate their performance. In this work, we aim to better estimate a model's performance under…

Audio-visual representation learning is an important task from the perspective of designing machines with the ability to understand complex events. To this end, we propose a novel multimodal framework that instantiates multiple instance…

As autonomous vehicles move from a simplified research setting to practical use, there exists a large gap between the dynamic behavior of a human driving and an autonomous system. Risk-aware behavior needs to naturally develop in order to…

Multimodal learning is a framework for building models that make predictions based on different types of modalities. Important challenges in multimodal learning are the inference of shared representations from arbitrary modalities and…

Recent efforts in the development of autonomous driving technology have induced great advancements in perception, planning and control systems. Model predictive control is one of the most popular advanced control methods, but its…

We study the problem of learning from unlabeled samples very general statistical mixture models on large finite sets. Specifically, the model to be learned, $\vartheta$, is a probability distribution over probability distributions $p$,…

Autonomous agents must be able to safely interact with other vehicles to integrate into urban environments. The safety of these agents is dependent on their ability to predict collisions with other vehicles' future trajectories for…

Multi-modal data-sets are ubiquitous in modern applications, and multi-modal Variational Autoencoders are a popular family of models that aim to learn a joint representation of the different modalities. However, existing approaches suffer…

The labeled data required to learn pose estimation for articulated objects is difficult to provide in the desired quantity, realism, density, and accuracy. To address this issue, we develop a method to learn representations, which are very…

Learning a parametric model from a given dataset indeed enables to capture intrinsic dependencies between random variables via a parametric conditional probability distribution and in turn predict the value of a label variable given…

In this work we consider the task of relaxing the i.i.d assumption in pattern recognition (or classification), aiming to make existing learning algorithms applicable to a wider range of tasks. Pattern recognition is guessing a discrete…

Language models trained on large text corpora encode rich distributional information about real-world environments and action sequences. This information plays a crucial role in current approaches to language processing tasks like question…