相关论文: Are All Data Necessary? Efficient Data Pruning for…

Data selection is a critical aspect of Reinforcement Learning with Verifiable Rewards (RLVR) for enhancing the reasoning capabilities of large language models (LLMs). Current data selection methods are largely heuristic-based, lacking…

Many Imitation and Reinforcement Learning approaches rely on the availability of expert-generated demonstrations for learning policies or value functions from data. Obtaining a reliable distribution of trajectories from motion planners is…

Accumulating substantial volumes of real-world driving data proves pivotal in the realm of trajectory forecasting for autonomous driving. Given the heavy reliance of current trajectory forecasting models on data-driven methodologies, we aim…

Large-scale registries have collected vast amounts of data which has enabled investigators to efficiently conduct studies of observational data. Common practice is for investigators to use all data meeting the inclusion criteria of their…

Missing data is a crucial issue when applying machine learning algorithms to real-world datasets. Starting from the simple assumption that two batches extracted randomly from the same dataset should share the same distribution, we leverage…

A driving algorithm that aligns with good human driving practices, or at the very least collaborates effectively with human drivers, is crucial for developing safe and efficient autonomous vehicles. In practice, two main approaches are…

Alongside optimization-based planners, sampling-based approaches are often used in trajectory planning for autonomous driving due to their simplicity. Model predictive path integral control is a framework that builds upon optimization…

Real-world driving involves intricate interactions among vehicles navigating through dense traffic scenarios. Recent research focuses on enhancing the interaction awareness of autonomous vehicles to leverage these interactions in…

Channel pruning is an important family of methods to speed up deep model's inference. Previous filter pruning algorithms regard channel pruning and model fine-tuning as two independent steps. This paper argues that combining them into a…

Data is the cornerstone of large language models (LLMs), but not all data is useful for model learning. Carefully selected data can better elicit the capabilities of LLMs with much less computational overhead. Most methods concentrate on…

This paper proposes a specialized autonomous driving system that takes into account the unique constraints and characteristics of automotive systems, aiming for innovative advancements in autonomous driving technology. The proposed system…

We consider the problem of trajectory planning in an environment comprised of a set of obstacles with uncertain locations. While previous approaches model the uncertainties with a prescribed Gaussian distribution, we consider the realistic…

With the increasing size of datasets used for training neural networks, data pruning becomes an attractive field of research. However, most current data pruning algorithms are limited in their ability to preserve accuracy compared to models…

Forecasting the future trajectories of surrounding agents is crucial for autonomous vehicles to ensure safe, efficient, and comfortable route planning. While model ensembling has improved prediction accuracy in various fields, its…

Achieving energy-efficient trajectory planning for autonomous driving remains a challenge due to the limitations of model-agnostic approaches. This study addresses this gap by introducing an online nonlinear programming trajectory…

In recent years, learning-based approaches have revolutionized motion planning. The data generation process for these methods involves caching a large number of high quality paths for different queries (start, goal pairs) in various…

Large Language Models (LLMs) exhibit substantial parameter redundancy, particularly in Feed-Forward Networks (FFNs). Existing pruning methods suffer from two primary limitations. First, reliance on dataset-specific calibration introduces…

Autonomous vehicles (AVs) have the potential to significantly revolutionize society by providing a secure and efficient mode of transportation. Recent years have witnessed notable advancements in autonomous driving perception and…

Late interaction neural IR models like ColBERT offer a competitive effectiveness-efficiency trade-off across many benchmarks. However, they require a huge memory space to store the contextual representation for all the document tokens. Some…

Connected and autonomous vehicles have the potential to minimize energy consumption by optimizing the vehicle velocity and powertrain dynamics with Vehicle-to-Everything info en route. Existing deterministic and stochastic methods created…