相关论文: Eigen-Value: Efficient Domain-Robust Data Valuatio…

We introduce OpenVO, a novel framework for Open-world Visual Odometry (VO) with temporal awareness under limited input conditions. OpenVO effectively estimates real-world-scale ego-motion from monocular dashcam footage with varying…

Many unsupervised domain adaptation (UDA) methods have been proposed to bridge the domain gap by utilizing domain invariant information. Most approaches have chosen depth as such information and achieved remarkable success. Despite their…

Machine learning is vital in high-stakes domains, yet conventional validation methods rely on averaging metrics like mean squared error (MSE) or mean absolute error (MAE), which fail to quantify extreme errors. Worst-case prediction…

In the past few years, augmented reality (AR) and virtual reality (VR) technologies have experienced terrific improvements in both accessibility and hardware capabilities, encouraging the application of these devices across various domains.…

Learning Enabled Components (LECs) are widely being used in a variety of perception based autonomy tasks like image segmentation, object detection, end-to-end driving, etc. These components are trained with large image datasets with…

We present a novel method to estimate the dominant eigenvalue and eigenvector pair of any non-negative real matrix via graph infection. The key idea in our technique lies in approximating the solution to the first-order matrix ordinary…

Video Anomaly Detection (VAD) can play a key role in spotting unusual activities in video footage. VAD is difficult to use in real-world settings due to the dynamic nature of human actions, environmental variations, and domain shifts.…

In response to carbon-neutral policies in developed countries, electric vehicles route optimization has gained importance for logistics companies. With the increasing focus on customer expectations and the shift towards more…

Many model-based Visual Odometry (VO) algorithms have been proposed in the past decade, often restricted to the type of camera optics, or the underlying motion manifold observed. We envision robots to be able to learn and perform these…

Autonomous vehicle (AV) systems rely on robust perception models as a cornerstone of safety assurance. However, objects encountered on the road exhibit a long-tailed distribution, with rare or unseen categories posing challenges to a…

Out-of-distribution (OOD) detection is a critical task in machine learning, particularly for safety-critical applications where unexpected inputs must be reliably flagged. While hierarchical variational autoencoders (HVAEs) offer improved…

Off-policy evaluation in reinforcement learning offers the chance of using observational data to improve future outcomes in domains such as healthcare and education, but safe deployment in high stakes settings requires ways of assessing its…

A long-standing challenge of deep learning models involves how to handle noisy labels, especially in applications where human lives are at stake. Adoption of the data Shapley Value (SV), a cooperative game theoretical approach, is an…

Previous LLMs-based RL studies typically follow either supervised learning with high annotation costs, or unsupervised paradigms using voting or entropy-based rewards. However, their performance remains far from satisfactory due to the…

A crucial component of an autonomous vehicle (AV) is the artificial intelligence (AI) is able to drive towards a desired destination. Today, there are different paradigms addressing the development of AI drivers. On the one hand, we find…

Existing end-to-end autonomous driving (AD) algorithms typically follow the Imitation Learning (IL) paradigm, which faces challenges such as causal confusion and an open-loop gap. In this work, we propose RAD, a 3DGS-based closed-loop…

We present EigenSafe, an operator-theoretic framework for safety assessment of learning-enabled stochastic systems. In many robotic applications, the dynamics are inherently stochastic due to factors such as sensing noise and environmental…

Making decisions is a great challenge in distributed autonomous environments due to enormous state spaces and uncertainty. Many online planning algorithms rely on statistical sampling to avoid searching the whole state space, while still…

Electric vehicles (EVs) are being rapidly adopted due to their economic and societal benefits. Autonomous mobility-on-demand (AMoD) systems also embrace this trend. However, the long charging time and high recharging frequency of EVs pose…

When testing conditions differ from those represented in training data, so-called out-of-distribution (OOD) inputs can mar the reliability of learned components in the modern robot autonomy stack. Therefore, coping with OOD data is an…