相关论文: Learning-Based On-Track System Identification for …

This paper addresses the problem of learning linear dynamical systems from noisy observations. In this setting, existing algorithms either yield biased parameter estimates or have large sample complexities. We resolve these issues by…

This work proposes a machine-learning framework for modeling the error incurred by approximate solutions to parameterized dynamical systems. In particular, we extend the machine-learning error models (MLEM) framework proposed in Ref. 15 to…

This project presents an automated solution for the efficient identification of car models and makes from images, aimed at streamlining the vehicle listing process on online car-selling platforms. Through a thorough exploration encompassing…

For efficient and safe autonomous driving, it is essential that autonomous vehicles can predict the motion of other traffic agents. While highly accurate, current motion prediction models often impose significant challenges in terms of…

Models play an essential role in the design process of cyber-physical systems. They form the basis for simulation and analysis and help in identifying design problems as early as possible. However, the construction of models that comprise…

Anomaly detection in decision-making sequences is a challenging problem due to the complexity of normality representation learning and the sequential nature of the task. Most existing methods based on Reinforcement Learning (RL) are…

We propose a novel feature re-identification method for real-time visual-inertial SLAM. The front-end module of the state-of-the-art visual-inertial SLAM methods (e.g. visual feature extraction and matching schemes) relies on feature tracks…

This paper explores the use of reinforcement learning (RL) models for autonomous racing. In contrast to passenger cars, where safety is the top priority, a racing car aims to minimize the lap-time. We frame the problem as a reinforcement…

A promising approach to autonomous driving is machine learning. In such systems, training datasets are created that capture the sensory input to a vehicle as well as the desired response. A disadvantage of using a learned navigation system…

Machine learning (ML) is increasingly applied to optimize system performance in tasks such as resource management and network simulation. Unlike traditional ML tasks (e.g., image classification), networked systems often operate in…

We study the fundamental problem of learning a marginally stable unknown nonlinear dynamical system. We describe an algorithm for this problem, based on the technique of spectral filtering, which learns a mapping from past observations to…

Modern on-road navigation systems heavily depend on integrating speed measurements with inertial navigation systems (INS) and global navigation satellite systems (GNSS). Telemetry-based applications typically source speed data from the…

Slip is a very common phenomena present in wheeled mobile robotic systems. It has undesirable consequences such as wasting energy and impeding system stability. To tackle the challenge of mobile robot trajectory tracking under slippery…

Modeling how a robot interacts with the environment around it is an important prerequisite for designing control and planning algorithms. In fact, the performance of controllers and planners is highly dependent on the quality of the model.…

Neural Networks (NNs) trained through supervised learning struggle with managing edge-case scenarios common in real-world driving due to the intractability of exhaustive datasets covering all edge-cases, making knowledge-driven approaches,…

Reliable detection of various objects and road users in the surrounding environment is crucial for the safe operation of automated driving systems (ADS). Despite recent progresses in developing highly accurate object detectors based on Deep…

Anomaly Detection System (ADS) is an essential part of a modern gateway Electronic Control Unit (ECU) to detect abnormal behaviors and attacks in vehicles. Among the existing attacks, ``one-time`` attack is the most challenging to be…

We consider the tracking problem as a special type of object detection problem, which we call instance detection. With proper initialization, a detector can be quickly converted into a tracker by learning the new instance from a single…

This paper proposes an optimization-based approach to predict trajectories of autonomous race cars. We assume that the observed trajectory is the result of an optimization problem that trades off path progress against acceleration and jerk…

ML-based motion planning is a promising approach to produce agents that exhibit complex behaviors, and automatically adapt to novel environments. In the context of autonomous driving, it is common to treat all available training data…