相关论文: SmartPretrain: Model-Agnostic and Dataset-Agnostic…

Safe motion planning for robotic systems in dynamic environments is nontrivial in the presence of uncertain obstacles, where estimation of obstacle uncertainties is crucial in predicting future motions of dynamic obstacles. The worst-case…

Self-supervised learning (SSL) in the pretraining stage using un-annotated speech data has been successful in low-resource automatic speech recognition (ASR) tasks. However, models trained through SSL are biased to the pretraining data…

Self-supervised video representation learning aimed at maximizing similarity between different temporal segments of one video, in order to enforce feature persistence over time. This leads to loss of pertinent information related to…

Deep learning-based trajectory prediction models have demonstrated promising capabilities in capturing complex interactions. However, their out-of-distribution generalization remains a significant challenge, particularly due to unbalanced…

We present a method for transferring pre-trained self-supervised (SSL) speech representations to multiple languages. There is an abundance of unannotated speech, so creating self-supervised representations from raw audio and fine-tuning on…

Self-supervised learning (SSL) has transformed speech processing, yet its reliance on massive pre-training datasets remains a bottleneck. While robustness is often attributed to scale and diversity, the role of the data distribution is less…

Human beings cooperatively navigate rule-constrained environments by adhering to mutually known navigational patterns, which may be represented as directional pathways or road lanes. Inferring these navigational patterns from incompletely…

Deep learning has recently achieved significant progress in trajectory forecasting. However, the scarcity of trajectory data inhibits the data-hungry deep-learning models from learning good representations. While mature representation…

Autonomous vehicles rely extensively on perception systems to navigate and interpret their surroundings. Despite significant advancements in these systems recently, challenges persist under conditions like occlusion, extreme lighting, or in…

Making informed driving decisions requires reliable prediction of other vehicles' trajectories. In this paper, we present a novel learned multi-modal trajectory prediction architecture for automated driving. It achieves kinematically…

We are interested in representation learning from labeled or unlabeled data. Inspired by recent success of self-supervised learning (SSL), we develop a non-contrastive representation learning method that can exploit additional knowledge.…

Detailed mobile sensing data from phones, watches, and fitness trackers offer an unparalleled opportunity to quantify and act upon previously unmeasurable behavioral changes in order to improve individual health and accelerate responses to…

Self-supervised learning (SSL) has emerged as a powerful technique for learning rich representations from unlabeled data. The data representations are able to capture many underlying attributes of data, and be useful in downstream…

Spatio-temporal predictive learning is a learning paradigm that enables models to learn spatial and temporal patterns by predicting future frames from given past frames in an unsupervised manner. Despite remarkable progress in recent years,…

Self-supervised learning (SSL) of graph neural networks is emerging as a promising way of leveraging unlabeled data. Currently, most methods are based on contrastive learning adapted from the image domain, which requires view generation and…

Navigating off-road with a fast autonomous vehicle depends on a robust perception system that differentiates traversable from non-traversable terrain. Typically, this depends on a semantic understanding which is based on supervised learning…

Autonomous systems, like vehicles or robots, require reliable, accurate, fast, resource-efficient, scalable, and low-latency trajectory predictions to get initial knowledge about future locations and movements of surrounding objects for…

Self-supervised online traversability estimation enables robots to continuously learn from unlabeled open-world experiences and adapt their navigation behavior toward safe and efficient trajectories. Existing approaches either rely on…

Model Predictive Control lacks the ability to escape local minima in nonconvex problems. Furthermore, in fast-changing, uncertain environments, the conventional warmstart, using the optimal trajectory from the last timestep, often falls…

In this work, we propose ModelPred, a framework that helps to understand the impact of changes in training data on a trained model. This is critical for building trust in various stages of a machine learning pipeline: from cleaning…