arXiv research

Retrieving indexed documents, not by their topical content but their writing style opens the door for a number of applications in information retrieval (IR). One application is to retrieve textual content of a certain author X, where the queried IR system is provided beforehand with a set of reference texts of X. Autho…

The safety and resilience of fully autonomous vehicles (AVs) are of significant concern, as exemplified by several headline-making accidents. While AV development today involves verification, validation, and testing, end-to-end assessment of AV systems under accidental faults in realistic driving scenarios has been lar…

Backdoor attacks on DRL-based traffic controllers cause stop-and-go waves or crashes.

While autonomous vehicle (AV) technology has shown substantial progress, we still lack tools for rigorous and scalable testing. Real-world testing, the $\textit{de-facto}$ evaluation method, is dangerous to the public. Moreover, due to the rare nature of failures, billions of miles of driving are needed to statisticall…

AV-CPL uses continuous pseudo-labels for AVSR combining labeled and unlabeled data.

In Autonomous Vehicles (AVs), one fundamental pillar is perception, which leverages sensors like cameras and LiDARs (Light Detection and Ranging) to understand the driving environment. Due to its direct impact on road safety, multiple prior efforts have been made to study its the security of perception systems. In cont…

Based on ideas of W. M. Tulczyjew, a geometric framework for a frame-independent formulation of different problems in analytical mechanics is developed. In this approach affine bundles replace vector bundles of the standard description and functions are replaced by sections of certain affine line bundles called AV-bund…

The use of autonomous vehicles (AVs) is a promising technology in Intelligent Transportation Systems (ITSs) to improve safety and driving efficiency. Vehicle-to-everything (V2X) technology enables communication among vehicles and other infrastructures. However, AVs and Internet of Vehicles (IoV) are vulnerable to diffe…

VTrackIt creates a synthetic dataset with infrastructure and vehicle info for AVs.

BAMS uses Bayesian sampling to discover AV failures more efficiently and accurately.

Authorship verification (AV) is a research subject in the field of digital text forensics that concerns itself with the question, whether two documents have been written by the same person. During the past two decades, an increasing number of proposed AV approaches can be observed. However, a closer look at the respect…

For autonomous vehicles (AVs) to behave appropriately on roads populated by human-driven vehicles, they must be able to reason about the uncertain intentions and decisions of other drivers from rich perceptual information. Towards these capabilities, we present a probabilistic forecasting model of future interactions b…

This paper compares uncertainty estimation methods for deep learning in autonomous vehicles.

This work presents a game-theoretic method for AVs that handles imperfect communication and individual rewards.

Proposes a new model for predicting future motion of road actors in autonomous vehicles.

The paper studies gradient estimates for solutions of a nonlinear elliptic equation on Riemannian manifolds.

Undetected overfitting can occur when there are significant redundancies between training and validation data. We describe AVE, a new measure of training-validation redundancy for ligand-based classification problems that accounts for the similarity amongst inactive molecules as well as active. We investigated seven wi…

We study the open string integrality invariants (LMOV invariants) for toric Calabi-Yau 3-folds with Aganagic-Vafa brane (AV-brane). In this paper, we focus on the case of the resolved conifold with one out AV-brane in any integer framing $τ$, which is the large $N$ duality of the Chern-Simons theory for a framed unknot…

Deep RL mimics human driving for collision avoidance in self-driving cars.

The calculus of variations for lagrangians which are not functions on the tangent bundle, but sections certain affine bundles is developed. We follow a general approach to variational principles which admits boundary terms of variations.

As machine-learning (ML) based systems for malware detection become more prevalent, it becomes necessary to quantify the benefits compared to the more traditional anti-virus (AV) systems widely used today. It is not practical to build an agreed upon test set to benchmark malware detection systems on pure classification…

AV-ASR system improves speech recognition with visual context.

The operational space of an autonomous vehicle (AV) can be diverse and vary significantly. This may lead to a scenario that was not postulated in the design phase. Due to this, formulating a rule based decision maker for selecting maneuvers may not be ideal. Similarly, it may not be effective to design an a-priori cost…

RandomNet uses random search to design neural architectures without much human intervention.

In autonomous vehicle (AV) control, allowing mistakes can be quite dangerous and costly in the real world. For this reason we investigate methods of training an AV without allowing the agent to explore and instead having a human explorer collect the data. Supervised learning has been explored for AV control, but it enc…

In this paper, we consider the problem of online learning of Markov decision processes (MDPs) with very large state spaces. Under the assumptions of realizable function approximation and low Bellman ranks, we develop an online learning algorithm that learns the optimal value function while at the same time achieving ve…

Quantization of (-1)-shifted derived Poisson manifolds via BV-infinity operators.

Autonomous vehicles (AVs) are on the road. To safely and efficiently interact with other road participants, AVs have to accurately predict the behavior of surrounding vehicles and plan accordingly. Such prediction should be probabilistic, to address the uncertainties in human behavior. Such prediction should also be in…

We construct a generalization of Courant algebroids which are classified by the third cohomology group $H^3(A,V)$, where $A$ is a Lie Algebroid, and $V$ is an $A$-module. We see that both Courant algebroids and $\mathcal{E}^1(M)$ structures are examples of them. Finally we introduce generalized CR structures on a manif…

Proposes a privacy-preserving system for federated learning of road networks.

Let $ρ_n(V)$ be the number of complete hyperbolic manifolds of dimension n with volume less than $V$. Burger, Gelander, Lubotzky, and Moses showed that when n>3 there exist a,b>0 depending on the dimension such that aV log(V) < log(ρ_n(V)) < bV log(V), for V >> 0. In this note, we use their methods to bound the number …

We study the connectedness of the planar self-affine sets $T(A,{\mathcal{D}})$ generated by an integer expanding matrix $A$ with $|\det(A)|=3$ and a non-collinear digit set ${\mathcal D}=\{0, v, kAv\}$ where $k\in {\mathbb Z}\setminus\{0\}$ and $v\in {\mathbb Z}^2$ such that $\{v, Av\}$ is linearly independent. By chec…

PIP-Net predicts pedestrian crossing intentions with up to 4-second lead.

A general, consistent and complete framework for geometrical formulation of mechanical systems is proposed, based on certain structures on affine bundles (affgebroids) that generalize Lie algebras and Lie algebroids. This scheme covers and unifies various geometrical approaches to mechanics in the Lagrangian and Hamilt…

Autonomous Vehicles(AV) are one of the brightest promises of the future which would help cut down fatalities and improve travel time while working in harmony. Autonomous vehicles will face with challenging situations and experiences not seen before. These experiences should be converted to knowledge and help the vehicl…

In the paper, we focus on the connectedness of planar self-affine sets $T(A,{\mathcal{D}})$ generated by an integer expanding matrix $A$ with $|\det (A)|=3$ and a collinear digit set ${\mathcal{D}}=\{0,1,b\}v$, where $b>1$ and $v\in {\mathbb{R}}^2$ such that $\{v, Av\}$ is linearly independent. We discuss the domain of…

I introduce an algorithm for estimating parameters from multidimensional data based on forward modelling. In contrast to many machine learning approaches it avoids fitting an inverse model and the problems associated with this. The algorithm makes explicit use of the sensitivities of the data to the parameters, with th…

We show that there exist knots K in S^3 with g(E(K))=2 and g(E(K#K#K))=6. Together with Theorem~1.5 of [1], this proves existence of counterexamples to Morimoto's Conjecture (Conjecture 1.5 of [2]). This is a special case of arxiv.org/abs/math.GT/0701765 [1] Tsuyoshi Kobayashi and Yo'av Rieck. On the growth rate of the…

In this short note, using our geometric method introduced in a previous paper \cite{phl} and initiated by \cite{ave}, we derive an asymptotic swaption implied volatility at the first-order for a general stochastic volatility Libor Market Model. This formula is useful to quickly calibrate a model to a full swaption matr…

This paper presents a geometric description of Lagrangian and Hamiltonian systems on Lie affgebroids subject to affine nonholonomic constraints. We define the notion of nonholonomically constrained system, and characterize regularity conditions that guarantee that the dynamics of the system can be obtained as a suitabl…

Paper presents a new algorithm to approximate Wasserstein-2 barycenters without bias.

This paper presents a module of vehicle reidentification based on make/model and color classification. It could be used by the Automated Vehicular Surveillance (AVS) or by the fast analysis of video data. Many of problems, that are related to this topic, had to be addressed. In order to facilitate and accelerate the pr…

AECF improves multimodal inference robustness and calibration.

Safety evaluation of self-driving technologies has been extensively studied. One recent approach uses Monte Carlo based evaluation to estimate the occurrence probabilities of safety-critical events as safety measures. These Monte Carlo samples are generated from stochastic input models constructed based on real-world d…

While recent developments in autonomous vehicle (AV) technology highlight substantial progress, we lack tools for rigorous and scalable testing. Real-world testing, the $\textit{de facto}$ evaluation environment, places the public in danger, and, due to the rare nature of accidents, will require billions of miles in or…

Given integers g_i > 1 (i=1,...,n) we prove that there exist infinitely may knots K_i in S^3 so that g(E(K_i)) = g_i and the Heegaard genus of the exterior of the connected sum of K_1,...,K_n is the sum the Heegaard genera of K_1,...,K_n, that is: g(E(K_1#...#K_n)) = g(E(K_1)) +...+ g(E(K_n)). (Here, E() denotes the ex…

A holonomic space $(V,H,L)$ is a normed vector space, $V$, a subgroup, $H$, of $Aut(V, \|\cdot\|)$ and a group-norm, $L$, with a convexity property. We prove that with the metric $d_L(u,v)=\inf_{a\in H}\{\sqrt{L^2(a)+\|u-av\|^2}\}$, $V$ is a metric space which is locally isometric to a Euclidean ball. Given a Sasaki-ty…

The "bag-of-frames" approach (BOF), which encodes audio signals as the long-term statistical distribution of short-term spectral features, is commonly regarded as an effective and sufficient way to represent environmental sound recordings (soundscapes) since its introduction in an influential 2007 article. The present …