相关论文: EMPERROR: A Flexible Generative Perception Error M…

High-risk traffic zones such as intersections are a major cause of collisions. This study leverages deep generative models to enhance the safety of autonomous vehicles in an intersection context. We train a 1000-step denoising diffusion…

In recent years, large language models (LLM) have made significant progress in the task of generation error correction (GER) for automatic speech recognition (ASR) post-processing. However, in complex noisy environments, they still face…

Explainable Multimodal Emotion Recognition (EMER) is an emerging task that aims to achieve reliable and accurate emotion recognition. However, due to the high annotation cost, the existing dataset (denoted as EMER-Fine) is small, making it…

We seek to enable classic processing of continuous ultra-sparse spatiotemporal data generated by event-based sensors with dense machine learning models. We propose a novel hybrid pipeline composed of asynchronous sensing and synchronous…

This paper presents a novel online learning method that aims at finding a separator hyperplane between data points labelled as either positive or negative. Since weights and biases of artificial neurons can directly be related to…

Leveraging advanced reasoning capabilities and extensive world knowledge of large language models (LLMs) to construct generative agents for solving complex real-world problems is a major trend. However, LLMs inherently lack embodiment as…

Existing vehicle trajectory prediction models struggle with generalizability, prediction uncertainties, and handling complex interactions. It is often due to limitations like complex architectures customized for a specific dataset and…

Our goal is to train a policy for autonomous driving via imitation learning that is robust enough to drive a real vehicle. We find that standard behavior cloning is insufficient for handling complex driving scenarios, even when we leverage…

We re-examine the situation entity (SE) classification task with varying amounts of available training data. We exploit a Transformer-based variational autoencoder to encode sentences into a lower dimensional latent space, which is used to…

Approaches based on generative adversarial networks for imitation learning are promising because they are sample efficient in terms of expert demonstrations. However, training a generator requires many interactions with the actual…

This paper addresses the problem of learning the impulse responses characterizing forward models by means of a regularized kernel-based Prediction Error Method (PEM). The common approach to accomplish that is to approximate the system with…

Sensing and Perception (S&P) is a crucial component of an autonomous system (such as a robot), especially when deployed in highly dynamic environments where it is required to react to unexpected situations. This is particularly true in case…

Parameter-efficient finetuning (PEFT) has become ubiquitous to adapt foundation models to downstream task requirements while retaining their generalization ability. However, the amount of additionally introduced parameters and compute for…

Generative models have emerged as powerful priors for solving inverse problems. These models typically represent a class of natural signals using a single fixed complexity or dimensionality. This can be limiting: depending on the problem, a…

The autoregressive world model exhibits robust generalization capabilities in vectorized scene understanding but encounters difficulties in deriving actions due to insufficient uncertainty modeling and self-delusion. In this paper, we…

As recommender systems become increasingly sophisticated and complex, they often suffer from lack of fairness and transparency. Providing robust and unbiased explanations for recommendations has been drawing more and more attention as it…

There has been increasing interest in characterising the error behaviour of systems which contain deep learning models before deploying them into any safety-critical scenario. However, characterising such behaviour usually requires…

Although much progress has been made towards robust deep learning, a significant gap in robustness remains between real-world perturbations and more narrowly defined sets typically studied in adversarial defenses. In this paper, we aim to…

Latent state space models are a fundamental and widely used tool for modeling dynamical systems. However, they are difficult to learn from data and learned models often lack performance guarantees on inference tasks such as filtering and…

Generative models such as diffusion models, excel at capturing high-dimensional distributions with diverse input modalities, e.g. robot trajectories, but are less effective at multi-step constraint reasoning. Task and Motion Planning (TAMP)…