相关论文: Lyapunov-Stable Adaptive Control for Multimodal Co…

Multi-object tracking (MOT) enables autonomous vehicles to continuously perceive dynamic objects, supplying essential temporal cues for prediction, behavior understanding, and safe planning. However, conventional tracking-by-detection…

Deep multimodal learning has achieved great progress in recent years. However, current fusion approaches are static in nature, i.e., they process and fuse multimodal inputs with identical computation, without accounting for diverse…

Slip is a very common phenomena present in wheeled mobile robotic systems. It has undesirable consequences such as wasting energy and impeding system stability. To tackle the challenge of mobile robot trajectory tracking under slippery…

This paper proposes a reliable learning-based adaptive control framework for nonlinear multi-agent systems (MASs) subject to Denial-of-Service (DoS) attacks and singular control gains, two critical challenges in cyber-physical systems. A…

In many real-world scenarios, we often deal with streaming data that is sequentially collected over time. Due to the non-stationary nature of the environment, the streaming data distribution may change in unpredictable ways, which is known…

Federated Learning (FL) under distributed concept drift is a largely unexplored area. Although concept drift is itself a well-studied phenomenon, it poses particular challenges for FL, because drifts arise staggered in time and space…

Continuous dimensional emotion prediction is a challenging task where the fusion of various modalities usually achieves state-of-the-art performance such as early fusion or late fusion. In this paper, we propose a novel multi-modal fusion…

Inertial navigation using low-cost MEMS sensors is plagued by rapid drift due to sensor noise and bias instability. While recent data-driven approaches have made significant strides, they often struggle with micro-drifts during stationarity…

Accurate dynamics models are critical for the design of predictive controller for autonomous mobile robots. Physics-based models are often too simple to capture relevant real-world effects, while data-driven models are data-intensive and…

Depth prediction is a critical problem in robotics applications especially autonomous driving. Generally, depth prediction based on binocular stereo matching and fusion of monocular image and laser point cloud are two mainstream methods.…

Urban time series data forecasting featuring significant contributions to sustainable development is widely studied as an essential task of the smart city. However, with the dramatic and rapid changes in the world environment, the…

Multimodal spiking neural networks (SNNs) hold significant potential for energy-efficient sensory processing but face critical challenges in modality imbalance and temporal misalignment. Current approaches suffer from uncoordinated…

Neural Ordinary Differential Equations (Neural ODEs), as a novel category of modeling big data methods, cleverly link traditional neural networks and dynamical systems. However, it is challenging to ensure the dynamics system reaches a…

In real-world Federated Learning (FL) deployments, data distributions on devices that participate in training evolve over time. This leads to asynchronous data drift, where different devices shift at different times and toward different…

The vanilla fractional order gradient descent may oscillatively converge to a region around the global minimum instead of converging to the exact minimum point, or even diverge, in the case where the objective function is strongly convex.…

Deploying robust machine learning models has to account for concept drifts arising due to the dynamically changing and non-stationary nature of data. Addressing drifts is particularly imperative in the security domain due to the…

The change in data distribution over time, also known as concept drift, poses a significant challenge to the reliability of online learning methods. Existing methods typically require model retraining or drift detection, both of which…

The hybrid nature of multi-contact robotic systems, due to making and breaking contact with the environment, creates significant challenges for high-quality control. Existing model-based methods typically rely on either good prior knowledge…

While Reinforcement Learning (RL) has achieved remarkable progress in legged locomotion control, it often suffers from performance degradation in out-of-distribution (OOD) conditions and discrepancies between the simulation and the real…

This paper introduces a lightweight uncertainty estimator capable of predicting multimodal (disjoint) uncertainty bounds by integrating conformal prediction with a deep-learning regressor. We specifically discuss its application for visual…