相关论文: CARIL: Confidence-Aware Regression in Imitation Le…

Transformers have become a standard architecture in machine learning, demonstrating strong in-context learning (ICL) abilities that allow them to learn from the prompt at inference time. However, uncertainty quantification for ICL remains…

We study multi-agent reinforcement learning (MARL) for tasks in complex high-dimensional environments, such as autonomous driving. MARL is known to suffer from the \textit{partial observability} and \textit{non-stationarity} issues. To…

Reinforcement learning (RL) in autonomous driving employs a trial-and-error mechanism, enhancing robustness in unpredictable environments. However, crafting effective reward functions remains challenging, as conventional approaches rely…

Deep clustering has exhibited remarkable performance; however, the over confidence problem, i.e., the estimated confidence for a sample belonging to a particular cluster greatly exceeds its actual prediction accuracy, has been over looked…

Imitation learning enables high-fidelity, vision-based learning of policies within rich, photorealistic environments. However, such techniques often rely on traditional discrete-time neural models and face difficulties in generalizing to…

This study develops a deep learning-based approach to automate inbound load plan adjustments for a large transportation and logistics company. It addresses a critical challenge for the efficient and resilient planning of E-commerce…

Continual learning (CL) with Vision-Language Models (VLMs) has overcome the constraints of traditional CL, which only focuses on previously encountered classes. During the CL of VLMs, we need not only to prevent the catastrophic forgetting…

Standard imitation learning can fail when the expert demonstrators have different sensory inputs than the imitating agent. This is because partial observability gives rise to hidden confounders in the causal graph. In previous work, to work…

Recent advancements in computer graphics technology allow more realistic ren-dering of car driving environments. They have enabled self-driving car simulators such as DeepGTA-V and CARLA (Car Learning to Act) to generate large amounts of…

This work presents a novel Learning Model Predictive Control (LMPC) strategy for autonomous racing at the handling limit that can iteratively explore and learn unknown dynamics in high-speed operational domains. We start from existing LMPC…

Large Language Models suffer from hallucination, generating plausible yet factually incorrect content. Current mitigation strategies focus on post-generation correction, which is computationally expensive and fails to prevent unreliable…

A safe and efficient decision-making system is crucial for autonomous vehicles. However, the complexity of driving environments limits the effectiveness of many rule-based and machine learning approaches. Reinforcement Learning (RL), with…

Current end-to-end deep learning driving models have two problems: (1) Poor generalization ability of unobserved driving environment when diversity of training driving dataset is limited (2) Lack of accident explanation ability when driving…

Human drivers can seamlessly adapt their driving decisions across geographical locations with diverse conditions and rules of the road, e.g., left vs. right-hand traffic. In contrast, existing models for autonomous driving have been thus…

Deep reinforcement learning (DRL) is a promising way to achieve human-like autonomous driving. However, the low sample efficiency and difficulty of designing reward functions for DRL would hinder its applications in practice. In light of…

Software systems with large parameter spaces, nondeterminism and high computational cost are challenging to test. Recently, software testing techniques based on causal inference have been successfully applied to systems that exhibit such…

Recent work has proposed several efficient approaches for generating gradient-based adversarial perturbations on embeddings and proved that the model's performance and robustness can be improved when they are trained with these contaminated…

We propose the use of Bayesian networks, which provide both a mean value and an uncertainty estimate as output, to enhance the safety of learned control policies under circumstances in which a test-time input differs significantly from the…

In this paper, we introduce Context-Aware Priority Sampling (CAPS), a novel method designed to enhance data efficiency in learning-based autonomous driving systems. CAPS addresses the challenge of imbalanced datasets in imitation learning…

This article focuses on making discrete-time Adaptive Iterative Learning Control (ILC) more effective using multiple estimation models. Existing strategies use the tracking error to adjust the parametric estimates. Our strategy uses the…