相关论文: Predicting Driver's Perceived Risk: a Model Based …

Many current autonomous systems are being designed with a strong reliance on black box predictions from deep neural networks (DNNs). However, DNNs tend to be overconfident in predictions on unseen data and can give unpredictable results for…

The safety of autonomous driving systems (ADS) depends on accurate perception across distance and driving conditions. The outputs of AI perception algorithms are stochastic, which have a major impact on decision making and safety outcomes,…

Although automatic speech recognition (ASR) task has gained remarkable success by sequence-to-sequence models, there are two main mismatches between its training and testing that might lead to performance degradation: 1) The typically used…

Uncertainties in Deep Neural Network (DNN)-based perception and vehicle's motion pose challenges to the development of safe autonomous driving vehicles. In this paper, we propose a safe motion planning framework featuring the quantification…

Crash prediction is a critical component of road safety analyses. A widely adopted approach to crash prediction is application of regression based techniques. The underlying calibration process is often time-consuming, requiring significant…

In several domains obtaining class annotations is expensive while at the same time unlabelled data are abundant. While most semi-supervised approaches enforce restrictive assumptions on the data distribution, recent work has managed to…

For driving safely and efficiently in highway scenarios, autonomous vehicles (AVs) must be able to predict future behaviors of surrounding object vehicles (OVs), and assess collision risk accurately for reasonable decision-making. Aiming at…

Using Deep Reinforcement Learning (DRL) can be a promising approach to handle various tasks in the field of (simulated) autonomous driving. However, recent publications mainly consider learning in unusual driving environments. This paper…

Advanced Driver Assistance Systems (ADAS) and Automated Driving Systems (ADS) are expected to improve comfort, productivity and, most importantly, safety for all road users. To ensure that the systems are safe, rules and regulations…

Cooperative perception (CP) offers significant potential to overcome the limitations of single-vehicle sensing by enabling information sharing among connected vehicles (CVs). However, existing generic CP approaches need to transmit large…

Accurately and proactively alerting drivers or automated systems to emerging collisions is crucial for road safety, particularly in highly interactive and complex urban environments. Existing methods either require labour-intensive…

Feature Selection (FS) under domain adaptation (DA) is a critical task in machine learning, especially when dealing with limited target data. However, existing methods lack the capability to guarantee the reliability of FS under DA. In this…

Uncertainty in decision-making is crucial in the machine learning model used for a safety-critical system that operates in the real world. Therefore, it is important to handle uncertainty in a graceful manner for the safe operation of the…

Causal and nonparametric estimands in economics and biostatistics can often be viewed as the mean of a linear functional applied to an unknown outcome regression function. Naively learning the regression function and taking a sample mean of…

Autonomous driving (AD) agents generate driving policies based on online perception results, which are obtained at multiple levels of abstraction, e.g., behavior planning, motion planning and control. Driving policies are crucial to the…

The structural re-parameterization (SRP) technique is a novel deep learning technique that achieves interconversion between different network architectures through equivalent parameter transformations. This technique enables the mitigation…

Robotic systems must be able to quickly and robustly make decisions when operating in uncertain and dynamic environments. While Reinforcement Learning (RL) can be used to compute optimal policies with little prior knowledge about the…

We propose a novel method for semi-supervised learning (SSL) based on data-driven distributionally robust optimization (DRO) using optimal transport metrics. Our proposed method enhances generalization error by using the unlabeled data to…

We treat the problem of risk-aware control for stochastic shortest path (SSP) on Markov decision processes (MDP). Typically, expectation is considered for SSP, which however is oblivious to the incurred risk. We present an alternative view,…

We introduce a new approach to probabilistic unsupervised learning based on the recognition-parametrised model (RPM): a normalised semi-parametric hypothesis class for joint distributions over observed and latent variables. Under the key…