相关论文: Using Buckingham's $\pi$ Theorem for Multi-System …

Effective inclusion of physics-based knowledge into deep neural network models of dynamical systems can greatly improve data efficiency and generalization. Such a-priori knowledge might arise from physical principles (e.g., conservation…

Learning to perform accurate and rich simulations of human driving behaviors from data for autonomous vehicle testing remains challenging due to human driving styles' high diversity and variance. We address this challenge by proposing a…

Combining data-driven models that adapt online and model predictive control (MPC) has enabled effective control of nonlinear systems. However, when deployed on unstable systems, online adaptation may not be fast enough to ensure reliable…

Urban Air Mobility (UAM), powered by flying cars, is poised to revolutionize urban transportation by expanding vehicle travel from the ground to the air. This advancement promises to alleviate congestion and enable faster commutes. However,…

Transfer reinforcement learning aims to improve the sample efficiency of solving unseen new tasks by leveraging experiences obtained from previous tasks. We consider the setting where all tasks (MDPs) share the same environment dynamic…

Large-scale data is crucial for learning realistic and capable driving policies. However, it can be impractical to rely on scaling datasets with real data alone. The majority of driving data is uninteresting, and deliberately collecting new…

Statistical change point (CP) detection methods typically rely on likelihood-based inference and ignore contextual information about plausible CP locations beyond the observed sequence. Although informative priors provide a natural way to…

A pseudo independent (PI) model is a probabilistic domain model (PDM) where proper subsets of a set of collectively dependent variables display marginal independence. PI models cannot be learned correctly by many algorithms that rely on a…

Structured prediction is often approached by training a locally normalized model with maximum likelihood and decoding approximately with beam search. This approach leads to mismatches as, during training, the model is not exposed to its…

This paper studies the adaptive optimal control problem for a class of linear time-delay systems described by delay differential equations (DDEs). A crucial strategy is to take advantage of recent developments in reinforcement learning and…

Transfer learning (TL) has been widely used in motor imagery (MI) based brain-computer interfaces (BCIs) to reduce the calibration effort for a new subject, and demonstrated promising performance. While a closed-loop MI-based BCI system,…

Model predictive control has emerged as an effective approach for real-time optimal control of connected and automated vehicles. However, nonlinear dynamics of vehicle and traffic systems make accurate modeling and real-time optimization…

This paper proposes a framework for adaptively learning a feedback linearization-based tracking controller for an unknown system using discrete-time model-free policy-gradient parameter update rules. The primary advantage of the scheme over…

As autonomous systems become more complex and integral in our society, the need to accurately model and safely control these systems has increased significantly. In the past decade, there has been tremendous success in using deep learning…

For complex simulation problems, inferring parameters often precludes the use of classical likelihood-based techniques due to intractable likelihoods. Simulation-based inference (SBI) methods offer a likelihood-free approach to directly…

This paper presents the modeling of autonomous vehicles with high maneuverability used in an experimental framework for educational purposes. Since standard bicycle models typically neglect wide steering angles, we develop modified planar…

Scalability is one of the major issues for real-world Vehicle-to-Vehicle network realization. To tackle this challenge, a stochastic hybrid modeling framework based on a non-parametric Bayesian inference method, i.e., hierarchical Dirichlet…

The presence of missing values often reflects variations in data collection policies, which may shift across time or locations, even when the underlying feature distribution remains stable. Such shifts in the missingness distribution…

In modern traffic management, one of the most essential yet challenging tasks is accurately and timely predicting traffic. It has been well investigated and examined that deep learning-based Spatio-temporal models have an edge when…

Dimensionality Reduction is a commonly used element in a machine learning pipeline that helps to extract important features from high-dimensional data. In this work, we explore an alternative federated learning system that enables…