相关论文: Reinforcement Learning for Adaptive Planner Parame…

Communications standards are designed via committees of humans holding repeated meetings over months or even years until consensus is achieved. This includes decisions regarding the modulation and coding schemes to be supported over an air…

Fine tuning distributed systems is considered to be a craftsmanship, relying on intuition and experience. This becomes even more challenging when the systems need to react in near real time, as streaming engines have to do to maintain…

Many automated machine learning methods, such as those for hyperparameter and neural architecture optimization, are computationally expensive because they involve training many different model configurations. In this work, we present a new…

The problem of autonomous racing is to navigate through a race course as quickly as possible while not colliding with any obstacles. We approach the autonomous racing problem with the added constraint of not maintaining an updated obstacle…

Adapting pre-trained foundation models for various downstream tasks has been prevalent in artificial intelligence. Due to the vast number of tasks and high costs, adjusting all parameters becomes unfeasible. To mitigate this, several…

Parameter-efficient fine-tuning methods have emerged as a promising solution for adapting pre-trained models to various downstream tasks. While these methods perform well in single-task learning, extending them to multi-task learning…

We propose a hierarchical architecture for efficiently computing high-quality solutions to structured mixed-integer programs (MIPs). To reduce computational effort, our approach decouples the original problem into a higher level problem and…

Self-supervised pre-training of a speech foundation model, followed by supervised fine-tuning, has shown impressive quality improvements on automatic speech recognition (ASR) tasks. Fine-tuning separate foundation models for many downstream…

Systems and machines undergo various failure modes that result in machine health degradation, so maintenance actions are required to restore them back to a state where they can perform their expected functions. Since maintenance tasks are…

Parameter efficient adaptation methods have become a key mechanism to train large pre-trained models for downstream tasks. However, their per-task parameter overhead is considered still high when the number of downstream tasks to adapt for…

One of the key challenges in applying reinforcement learning to real-life problems is that the amount of train-and-error required to learn a good policy increases drastically as the task becomes complex. One potential solution to this…

The advent of deep learning has inspired research into end-to-end learning for a variety of problem domains in robotics. For navigation, the resulting methods may not have the generalization properties desired let alone match the…

We introduce a technique that can automatically tune the parameters of a rule-based computer vision system comprised of thresholds, combinational logic, and time constants. This lets us retain the flexibility and perspicacity of a…

In this paper we derive an efficient algorithm to learn the parameters of structured predictors in general graphical models. This algorithm blends the learning and inference tasks, which results in a significant speedup over traditional…

In this paper, we propose a navigation algorithm oriented to multi-agent environment. This algorithm is expressed as a hierarchical framework that contains a Hidden Markov Model (HMM) and a Deep Reinforcement Learning (DRL) structure. For…

Machine learning algorithms have been used widely in various applications and areas. To fit a machine learning model into different problems, its hyper-parameters must be tuned. Selecting the best hyper-parameter configuration for machine…

For robotic vehicles to navigate robustly and safely in unseen environments, it is crucial to decide the most suitable navigation policy. However, most existing deep reinforcement learning based navigation policies are trained with a…

Many autonomous driving motion planners generate trajectories by optimizing a reward/cost functional. Designing and tuning a high-performance reward/cost functional for Level-4 autonomous driving vehicles with exposure to different driving…

Parameter tuning is a powerful approach to enhance adaptability in model predictive control (MPC) motion planners. However, existing methods typically operate in a myopic fashion that only evaluates executed actions, leading to inefficient…

A number of image-processing problems can be formulated as optimization problems. The objective function typically contains several terms specifically designed for different purposes. Parameters in front of these terms are used to control…