相关论文: Towards Robust Car Following Dynamics Modeling via…

Adapting pre-trained models to unseen feature modalities has become increasingly important due to the growing need for cross-disciplinary knowledge integration. A key challenge here is how to align the representation of new modalities with…

Diverse domains of science and engineering use parameterised mechanistic models. Engineers and scientists can often hypothesise several rival models to explain a specific process or phenomenon. Consider a model discrimination setting where…

Trajectory following is one of the complicated control problems when its dynamics are nonlinear, stochastic and include a large number of parameters. The problem has significant difficulties including a large number of trials required for…

When a robot executes a task, it is necessary to model the relationship among its body, target objects, tools, and environment, and to control its body to realize the target state. However, it is difficult to model them using classical…

Car-following is a control process in which a following vehicle (FV) adjusts its acceleration to keep a safe distance from the lead vehicle (LV). Recently, there has been a booming of data-driven models that enable more accurate modeling of…

A Learning Model Predictive Controller (LMPC) is presented and tailored to platooning and Connected Autonomous Vehicles (CAVs) applications. The proposed controller builds on previous work on nonlinear LMPC, adapting its architecture and…

Deep learning models for medical image segmentation and object detection are becoming increasingly available as clinical products. However, as details are rarely provided about the training data, models may unexpectedly fail when cases…

Vehicle control algorithms exploiting connectivity and automation, such as Connected and Automated Vehicles (CAVs) or Advanced Driver Assistance Systems (ADAS), have the opportunity to improve energy savings. However, lower levels of…

This work presents an efficient framework to generate a motion plan of a robot with high degrees of freedom (e.g., a humanoid robot). High-dimensionality of the robot configuration space often leads to difficulties in utilizing the…

Black-box optimization is a very active area of research, with many new algorithms being developed every year. This variety is needed, on the one hand, since different algorithms are most suitable for different types of optimization…

Accurately predicting the performance of different optimization algorithms for previously unseen problem instances is crucial for high-performing algorithm selection and configuration techniques. In the context of numerical optimization,…

Despite the numerous advances, reinforcement learning remains away from widespread acceptance for autonomous controller design as compared to classical methods due to lack of ability to effectively tackle the reality gap. The reliance on…

Personalized driver models play a key role in the development of advanced driver assistance systems and automated driving systems. Traditionally, physical-based driver models with fixed structures usually lack the flexibility to describe…

Traffic state prediction is necessary for many Intelligent Transportation Systems applications. Recent developments of the topic have focused on network-wide, multi-step prediction, where state of the art performance is achieved via deep…

This work presents DMPC (Data-and Model-Driven Predictive Control) to solve control problems in which some of the constraints or parts of the objective function are known, while others are entirely unknown to the controller. It is assumed…

Reliably predicting the behavior of language models -- such as whether their outputs are correct or have been adversarially manipulated -- is a fundamentally challenging task. This is often made even more difficult as frontier language…

Penalized regression models are popularly used in high-dimensional data analysis to conduct variable selection and model fitting simultaneously. Whereas success has been widely reported in literature, their performances largely depend on…

High dimensional parameter space optimization is crucial in many applications. The parameters affecting this performance can be both numerical and categorical in their type. The existing techniques of black-box optimization and visual…

Planar pushing remains a challenging research topic, where building the dynamic model of the interaction is the core issue. Even an accurate analytical dynamic model is inherently unstable because physics parameters such as inertia and…

Since most machine learning (ML) algorithms are designed for numerical inputs, efficiently encoding categorical variables is a crucial aspect in data analysis. A common problem are high cardinality features, i.e. unordered categorical…