相关论文: PIAug -- Physics Informed Augmentation for Learnin…

Motion prediction is critical for autonomous off-road driving, however, it presents significantly more challenges than on-road driving because of the complex interaction between the vehicle and the terrain. Traditional physics-based…

Single-Domain Generalized Object Detection~(S-DGOD) aims to train on a single source domain for robust performance across a variety of unseen target domains by taking advantage of an object detector. Existing S-DGOD approaches often rely on…

Machine learning techniques rely on large and diverse datasets for generalization. Computer vision, natural language processing, and other applications can often reuse public datasets to train many different models. However, due to…

Physics-informed deep learning has been developed as a novel paradigm for learning physical dynamics recently. While general physics-informed deep learning methods have shown early promise in learning fluid dynamics, they are difficult to…

Terrain elevation modeling for off-road navigation aims to accurately estimate changes in terrain geometry in real-time and quantify the corresponding uncertainties. Having precise estimations and uncertainties plays a crucial role in…

Recent advances in imitative reinforcement learning (IRL) have considerably enhanced the ability of autonomous agents to assimilate expert demonstrations, leading to rapid skill acquisition in a range of demanding tasks. However, such…

Identifying accurate dynamic models is required for the simulation and control of various technical systems. In many important real-world applications, however, the two main modeling approaches often fail to meet requirements: first…

Accurate vessel trajectory prediction is crucial for navigational safety, route optimization, traffic management, search and rescue operations, and autonomous navigation. Traditional data-driven models lack real-world physical constraints,…

Run-time domain shifts from training-phase domains are common in sensing systems designed with deep learning. The shifts can be caused by sensor characteristic variations and/or discrepancies between the design-phase model and the actual…

Learning data-efficient object dynamics models for robotic manipulation remains challenging, especially for deformable objects. A popular approach is to model objects as sets of 3D particles and learn their motion using graph neural…

Accurate prediction of vehicle collision dynamics is crucial for advanced safety systems and post-impact control applications, yet existing methods face inherent trade-offs among computational efficiency, prediction accuracy, and data…

Accurate LiDAR simulation is crucial for autonomous driving, especially under adverse weather conditions. Existing methods struggle to capture the complex interactions between LiDAR signals and atmospheric phenomena, leading to unrealistic…

This study introduces a unified control framework that addresses the challenge of precise quadruped locomotion with unknown payloads, named as online payload identification-based physics-informed neural network predictive control…

Safety-critical driving data is crucial for developing safe and trustworthy self-driving algorithms. Due to the scarcity of safety-critical data in naturalistic datasets, current approaches primarily utilize simulated or artificially…

We introduce Network Augmentation (NetAug), a new training method for improving the performance of tiny neural networks. Existing regularization techniques (e.g., data augmentation, dropout) have shown much success on large neural networks…

A fundamental requirement for full autonomy is the ability to sustain accurate navigation in the absence of external data, such as GNSS signals or visual information. In these challenging environments, the platform must rely exclusively on…

Car-following behavior has been extensively studied using physics-based models, such as the Intelligent Driver Model. These models successfully interpret traffic phenomena observed in the real-world but may not fully capture the complex…

Recent studies have explored pretrained (foundation) models for vision-based robotic navigation, aiming to achieve generalizable navigation and positive transfer across diverse environments while enhancing zero-shot performance in unseen…

This paper presents a motion data augmentation scheme incorporating motion synthesis encouraging diversity and motion correction imposing physical plausibility. This motion synthesis consists of our modified Variational AutoEncoder (VAE)…

Creating large LiDAR datasets with pixel-level labeling poses significant challenges. While numerous data augmentation methods have been developed to reduce the reliance on manual labeling, these methods predominantly focus on static scenes…