相关论文: End-to-End Driving via Self-Supervised Imitation L…

Safe and scalable deployment of end-to-end (E2E) autonomous driving requires extensive and diverse data, particularly safety-critical events. Existing data are mostly generated from simulators with a significant sim-to-real gap or collected…

We propose a sequential variational autoencoder to learn disentangled representations of sequential data (e.g., videos and audios) under self-supervision. Specifically, we exploit the benefits of some readily accessible supervisory signals…

The end-to-end (E2E) paradigm, which maps sensor inputs directly to driving decisions, has recently attracted significant attention due to its unified modeling capability and scalability. However, ensuring safety in this unified framework…

End-to-end (E2E) spoken language understanding (SLU) systems that generate a semantic parse from speech have become more promising recently. This approach uses a single model that utilizes audio and text representations from pre-trained…

Semi-supervised learning (SSL) has attracted much attention since it reduces the expensive costs of collecting adequate well-labeled training data, especially for deep learning methods. However, traditional SSL is built upon an assumption…

We present Self-Classifier -- a novel self-supervised end-to-end classification learning approach. Self-Classifier learns labels and representations simultaneously in a single-stage end-to-end manner by optimizing for same-class prediction…

Visual imitation learning provides an effective framework to learn skills from demonstrations. However, the quality of the provided demonstrations usually significantly affects the ability of an agent to acquire desired skills. Therefore,…

We investigate the utility of in-domain self-supervised pre-training of vision models in the analysis of remote sensing imagery. Self-supervised learning (SSL) has emerged as a promising approach for remote sensing image classification due…

This study explores the application of self-supervised learning (SSL) to the task of motion forecasting, an area that has not yet been extensively investigated despite the widespread success of SSL in computer vision and natural language…

Traditional language models, adept at next-token prediction in text sequences, often struggle with transduction tasks between distinct symbolic systems, particularly when parallel data is scarce. Addressing this issue, we introduce…

Autonomous car racing is a challenging task, as it requires precise applications of control while the vehicle is operating at cornering speeds. Traditional autonomous pipelines require accurate pre-mapping, localization, and planning which…

Transformer networks and self-supervised pre-training have consistently delivered state-of-art results in the field of natural language processing (NLP); however, their merits in the field of spoken language understanding (SLU) still need…

We present Sym2Real, a fully data-driven framework that provides a principled way to train low-level adaptive controllers in a highly data-efficient manner. Using only about 10 trajectories, we achieve robust control of both a quadrotor and…

Most current end-to-end (E2E) autonomous driving algorithms are built on standard vehicles in structured transportation scenarios, lacking exploration of robot navigation for unstructured scenarios such as auxiliary roads, campus roads, and…

Speech Emotion Recognition (SER) often operates on speech segments detected by a Voice Activity Detection (VAD) model. However, VAD models may output flawed speech segments, especially in noisy environments, resulting in degraded…

Intrinsic image decomposition aims at separating an image into its underlying albedo and shading components, isolating the base color from lighting effects to enable downstream applications such as virtual relighting and scene editing.…

We study an uplink multiuser multiple-input multiple-output (MU-MIMO) system with one-bit analog-to-digital converters (ADCs). For such system, a supervised-learning (SL) detector has been recently proposed by modeling a non-linear…

Imitation learning is a promising approach for training autonomous vehicles (AV) to navigate complex traffic environments by mimicking expert driver behaviors. While existing imitation learning frameworks focus on leveraging expert…

Learning motor skills for sports or performance driving is often done with professional instruction from expert human teachers, whose availability is limited. Our goal is to enable automated teaching via a learned model that interacts with…

Self-supervised pre-training bears potential to generate expressive representations without human annotation. Most pre-training in Earth observation (EO) are based on ImageNet or medium-size, labeled remote sensing (RS) datasets. We share…