相关论文: ResAD: Normalized Residual Trajectory Modeling for…

End-to-end models for autonomous driving hold the promise of learning complex behaviors directly from sensor data, but face critical challenges in safety and handling long-tail events. Reinforcement Learning (RL) offers a promising path to…

We revisit the sequential variants of linear regression with the squared loss, classification problems with hinge loss, and logistic regression, all characterized by unbounded losses in the setup where no assumptions are made on the…

Residual neural networks (ResNets) are a promising class of deep neural networks that have shown excellent performance for a number of learning tasks, e.g., image classification and recognition. Mathematically, ResNet architectures can be…

Anticipating the future actions of a human is a widely studied problem in robotics that requires spatio-temporal reasoning. In this work we propose a deep learning approach for anticipation in sensory-rich robotics applications. We…

Generating receding-horizon motion trajectories for autonomous vehicles in real-time while also providing safety guarantees is challenging. This is because a future trajectory needs to be planned before the previously computed trajectory is…

Pedestrian dead reckoning is a challenging task due to the low-cost inertial sensor error accumulation. Recent research has shown that deep learning methods can achieve impressive performance in handling this issue. In this letter, we…

Semantic ID (SID)-based recommendation is a promising paradigm for scaling sequential recommender systems, but existing methods largely follow a semantic-centric pipeline: item embeddings are learned from foundation models and discretized…

This paper presents ARTEMIS, an end-to-end autonomous driving framework that combines autoregressive trajectory planning with Mixture-of-Experts (MoE). Traditional modular methods suffer from error propagation, while existing end-to-end…

Effective anomaly detection in time series is pivotal for modern industrial applications and financial systems. Due to the scarcity of anomaly labels and the high cost of manual labeling, reconstruction-based unsupervised approaches have…

End-to-end (E2E) neural modeling has emerged as one predominant school of thought to develop computer-assisted language training (CAPT) systems, showing competitive performance to conventional pronunciation-scoring based methods. However,…

Human trajectory forecasting is a key component of autonomous vehicles, social-aware robots and advanced video-surveillance applications. This challenging task typically requires knowledge about past motion, the environment and likely…

We propose a Regularized Adaptive Momentum Dual Averaging (RAMDA) algorithm for training structured neural networks. Similar to existing regularized adaptive methods, the subproblem for computing the update direction of RAMDA involves a…

End-to-end autonomous driving aims to produce planning trajectories from raw sensors directly. Currently, most approaches integrate perception, prediction, and planning modules into a fully differentiable network, promising great…

Trajectory prediction is central to the safe and seamless operation of autonomous vehicles (AVs). In deployment, however, prediction models inevitably face distribution shifts between training data and real-world conditions, where rare or…

Time-series anomaly detection plays a vital role in monitoring complex operation conditions. However, the detection accuracy of existing approaches is heavily influenced by pattern distribution, existence of multiple normal patterns,…

Existing trajectory prediction methods exhibit significant performance degradation under distribution shifts during test time. Although test-time training techniques have been explored to enable adaptation, current approaches rely on an…

In autonomous navigation, trajectory replanning, refinement, and control command generation are essential for effective motion planning. This paper presents a resilient approach to trajectory replanning addressing scenarios where the…

Recently, deep learning have achieved promising results in Estimated Time of Arrival (ETA), which is considered as predicting the travel time from the origin to the destination along a given path. One of the key techniques is to use…

End-to-end autonomous driving systems (ADSs), with their strong capabilities in environmental perception and generalizable driving decisions, are attracting growing attention from both academia and industry. However, once deployed on public…

A safe and robust on-road navigation system is a crucial component of achieving fully automated vehicles. NVIDIA recently proposed an End-to-End algorithm that can directly learn steering commands from raw pixels of a front camera by using…