相关论文: Stability Under Scrutiny: Benchmarking Representat…
Locomotion in the real world involves unexpected perturbations, and therefore requires strategies to maintain stability to successfully execute desired behaviours. Ensuring the safety of locomoting systems therefore necessitates a…
Accurate High-Definition (HD) map construction is critical for autonomous driving, yet existing methods face a fundamental trade-off: vectorization-based approaches preserve topology but struggle with geometric fidelity, while…
Online map construction is essential for autonomous robots to navigate in unknown environments. However, the presence of dynamic objects may introduce artifacts into the map, which can significantly degrade the performance of localization…
This paper considers the stability of online learning algorithms and its implications for learnability (bounded regret). We introduce a novel quantity called {\em forward regret} that intuitively measures how good an online learning…
Safe navigation in real-time is challenging because engineers need to work with uncertain vehicle dynamics, variable external disturbances, and imperfect controllers. A common safety strategy is to inflate obstacles by hand-defined margins.…
Estimation of structure, such as in variable selection, graphical modelling or cluster analysis is notoriously difficult, especially for high-dimensional data. We introduce stability selection. It is based on subsampling in combination with…
Safety constitutes a foundational imperative for autonomous driving systems, necessitating maximal incorporation of accessible prior information. This study establishes that temporal perception buffers and cost-efficient high-definition…
Safe UAV navigation is challenging due to the complex environment structures, dynamic obstacles, and uncertainties from measurement noises and unpredictable moving obstacle behaviors. Although plenty of recent works achieve safe navigation…
Robustness is a critical requirement for deploying autonomous driving systems in the real world. Existing robustness benchmarks for autonomous driving have made important progress in studying the effects of image-level corruptions, such as…
Accurate vehicle trajectory prediction is essential for ensuring safety and efficiency in fully autonomous driving systems. While existing methods primarily focus on modeling observed motion patterns and interactions with other vehicles,…
Sensor fusion is crucial for a performant and robust Perception system in autonomous vehicles, but sensor staleness, where data from different sensors arrives with varying delays, poses significant challenges. Temporal misalignment between…
As the use of machine learning in high impact domains becomes widespread, the importance of evaluating safety has increased. An important aspect of this is evaluating how robust a model is to changes in setting or population, which…
Although existing 3D perception algorithms have demonstrated significant improvements in performance, their deployment on edge devices continues to encounter critical challenges due to substantial runtime latency. We propose a new benchmark…
Several important aspects of software product quality can be evaluated using dynamic metrics that effectively capture and reflect the software's true runtime behavior. While the extent of research in this field is still relatively limited,…
Analyzing system trajectory from the perspective of individual machines provides a distinctive angle to analyze the transient stability of power systems. This two-paper series propose a direct-time-domain method that is based on the…
High-definition (HD) maps offer extensive and accurate environmental information about the driving scene, making them a crucial and essential element for planning within autonomous driving systems. To avoid extensive efforts from manual…
Localization and mapping is the foundational technology for augmented reality (AR) that enables sharing and persistence of digital content in the real world. While significant progress has been made, researchers are still mostly driven by…
Reliable manipulation of previously unseen objects remains a fundamental challenge for autonomous robotic systems operating in unstructured environments. In particular, robust pick-and-place planning directly from noisy and only partial…
A framework for online simultaneous localization, mapping and self-calibration is presented which can detect and handle significant change in the calibration parameters. Estimates are computed in constant-time by factoring the problem and…
The performance of learning models often deteriorates when deployed in out-of-sample environments. To ensure reliable deployment, we propose a stability evaluation criterion based on distributional perturbations. Conceptually, our stability…