Simple model predicts trajectory probabilities.
problem Forecasting trajectories from visual data.
method Spatio-temporal convolutional neural network.
result Achieves results on par with or better than existing methods.
On-device research index
arXiv research
A locally-built, LLM-digested index of recent arXiv papers in quant finance, geometry/topology, and statistical ML — keyword search served straight from SQLite on this machine.
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48 results for “Stanford Drones”
Deep RL drone trained to compete against classical path planning in drone racing.
problem Optimizing long-term drone racing strategies using reinforcement learning.
method Used PPO algorithm on a simulated quadrotor in a racing environment created with AirSim.
result Deep RL agent outperformed classical path planning in drone racing competitions.
CF-VAE models capture multi-modal distributions for better structured sequence prediction.
problem Challenges in capturing multi-modality of future states in latent variable models.
method Conditional Flow Variational Autoencoders (CF-VAE) with conditional normalizing flows.
result CF-VAE achieves state-of-the-art results on multi-modal structured sequence prediction datasets.
Solves challenges of drone communication in cellular networks.
problem Interference from drones to base stations in cellular networks.
method Derived analytical models, formulated optimization problem, transformed into machine learning problem, solved using deep reinforcement learning.
result Optimal handover and resource management policies for drones in cellular networks.
A drone catches another agile drone using competitive reinforcement learning.
problem Intercepting an agile drone with another agile drone.
method Formulated as a Competitive Reinforcement Learning problem, trained with PPO, using a high-fidelity simulation environment.
result Trained policies outperform common heuristic baselines in catch rate, time to catch, and crash rate.
Deep Q-learning optimizes same-day delivery with vehicles and drones.
problem Optimizing same-day delivery with limited vehicle and drone capacities.
method Deep Q-learning approach to assign packages to vehicles or drones.
result Deep Q-learning policy outperforms benchmark policies and maintains effectiveness with changing fleet sizes.
Drone optimizes collaborative learning for neural networks.
problem Training a shared neural network with heterogeneous data from multiple devices.
method Drone collects and aggregates model parameters from devices, optimizing trajectory for best accuracy.
result Significant improvement in final accuracy and speedup in training time.
Paper presents a TL approach to reduce drone training time and energy consumption.
problem Limited power and compute capability of edge drones.
method Transfer Learning for deep neural network training via Deep Reinforcement Learning.
result 3.7x reduction in energy consumption and 1.8x reduction in training latency.
End-to-end multi-object tracking learns object interactions.
problem Object tracking ignores interactions between objects.
method End-to-end relational reasoning model MOHART.
result Relational reasoning improves tracking and prediction.
A drone-based MOT algorithm tracks vehicles using neural network detections and TPMBM filter.
problem Tracking multiple vehicles from drone-mounted cameras.
method Neural network for object detection, TPMBM filter for trajectory estimation, von-Mises Fisher distribution for DOA.
result TPMBM filter optimally estimates vehicle trajectories.
We present NAVREN-RL, an approach to NAVigate an unmanned aerial vehicle in an indoor Real ENvironment via end-to-end reinforcement learning RL. A suitable reward function is designed keeping in mind the cost and weight constraints for micro drone with minimum number of sensing modalities. Collection of small number of…
Deep reinforcement learning controls drones without model knowledge.
problem Real-time robot control without engineered models.
method Learnt probabilistic model of drone dynamics, model-based reinforcement learning.
result Controller and value function optimized through generated latent trajectories.
A new method for drone-based geo-localization using style and spatial alignment.
problem Geo-localization of drone-view images with satellite-view images using pre-annotated GPS tags.
method Orientation-based method to align patterns, new branch to extract aligned partial features, style alignment strategy.
result The proposed method outperforms state-of-the-art alternatives in geo-localization accuracy.
In this paper, we propose Dynamic Self-Attention (DSA), a new self-attention mechanism for sentence embedding. We design DSA by modifying dynamic routing in capsule network (Sabouretal.,2017) for natural language processing. DSA attends to informative words with a dynamic weight vector. We achieve new state-of-the-art …
This paper explores formal verification for autonomous systems, identifying limitations and proposing improvements.
problem Ensuring safety of autonomous systems like self-driving cars and drones.
method Formal verification techniques based on formal methods, analyzing three assumptions and their limitations.
result Preliminary work to improve the strength of evidence provided by formal verification.
Meta-learning improves drone trajectory design for dynamic wireless networks.
problem Designing optimal trajectories for energy-constrained drones in dynamic network environments.
method Proposes a meta-learning algorithm to adaptively tune a reinforcement learning solution for trajectory design.
result Meta-tuned RL yields faster convergence and improved communication performance compared to baseline algorithms.
Augment small datasets with synthetic backgrounds to train lightweight CNNs for human pose estimation.
problem Training CNNs from limited real-world data for human pose estimation.
method Synthetic background substitution for data augmentation.
result Improves generalization to unseen environments.
Despite incredible recent advances in machine learning, building machine learning applications remains prohibitively time-consuming and expensive for all but the best-trained, best-funded engineering organizations. This expense comes not from a need for new and improved statistical models but instead from a lack of sys…
Paper explores BERT's efficiency on SQuAD2.0, freezing layers and using adapters.
problem Improving BERT's efficiency for SQuAD2.0 while maintaining performance.
method Freezing transformer layers, using adapters, and context-aware convolutional filters.
result Context-aware convolutional filters do not improve practical efficiency.
The paper detects amateur drones using acoustic signals, overcoming interference.
problem Detection of unmonitored UAVs (amateur drones) for security and safety.
method Machine learning approach using Independent Component Analysis (ICA) for acoustic signal detection.
result The RMS values of PSD with KNN outperform other methods in detecting AmDr.
CitySim: A Drone-Based Vehicle Trajectory Dataset for Safety Oriented Research and Digital Twinscs.CV
CitySim dataset captures vehicle trajectories for safety research.
problem Lack of fine-grain vehicle trajectories for safety-oriented research.
method Five-step procedure: video stabilization, object filtering, stitching, detection, and error filtering.
result CitySim dataset improves safety evaluations and facilitates digital-twin research.
In the context of finite type invariants, Stanford introduced a family of equivalence relations on knots defined by the lower central series of the pure braid groups and characterized the finite type invariants in terms of the structure of the braid groups. It is known that this equivalence and Ohyama's equivalence def…
ReF-ER algorithm improved performance in multi-agent reinforcement learning.
problem Improving performance in multi-agent reinforcement learning environments.
method Extended ReF-ER algorithm to include dependencies between agents and modeled environment dynamics.
result ReF-ER MARL outperforms state-of-the-art algorithms in collaborative environments.
This paper improves confidence measurement in deep metric learning models.
problem Measuring confidence in deep metric learning models is challenging.
method Approximates class distributions using Gaussian kernel smoothing and calibrates the confidence metric.
result Improves generalization and robustness of deep metric learning models.
Predicting battery lifespan from early cycles using deep learning.
problem Predicting battery lifespan from the first 100 cycles.
method Used a deep network design including 1-D convolution, LSTMs, and an optional Attention layer.
result Achieved competitive results, with a test MAPE error of 12.5%.
In this article it is proven that if a knot, K, bounds an imbedded grope of class n, then the knot is n/2-trivial in the sense of Gusarov and Stanford. That is, all type n/2 invariants vanish on K. We also give a simple way to construct all knots bounding a grope of a given class. It is further shown that this result i…
We present the multiplicative recurrent neural network as a general model for compositional meaning in language, and evaluate it on the task of fine-grained sentiment analysis. We establish a connection to the previously investigated matrix-space models for compositionality, and show they are special cases of the multi…
This dissertation uses deep reinforcement learning to improve drone flight control.
problem Inadequate traditional control methods for unpredictable CPS interactions.
method Developed a full solution stack for neuro-flight controllers using deep neural networks.
result Reinforcement learning enables training neural network controllers for stable and precise flight.
Recently Swatee Naik and Theodore Stanford proved that two S-equivalent knots are related by a finite sequence of doubled-delta moves on their knot diagrams. We show that classical S-equivalence is not sufficient to extend their result to ordered links. We define a new algebraic relation on Seifert matrices, called Str…
Identifying patients who will be discharged within 24 hours can improve hospital resource management and quality of care. We studied this problem using eight years of Electronic Health Records (EHR) data from Stanford Hospital. We fit models to predict 24 hour discharge across the entire inpatient population. The best …
New method uses UAV imagery and ML to map crops and weeds.
problem Mapping crops and weeds at high resolution.
method Machine Learning algorithms trained on expert-masked images.
result Maps with >90% identification efficiency at 5m altitude.
Study compares machine learning models and BERT on SQuAD dataset.
problem Comparing performance of machine learning models and BERT on SQuAD dataset.
method Comparative analysis of machine learning models and BERT on SQuAD dataset.
result BERT model outperforms other models on SQuAD dataset but requires more time.
Modern vision-based reinforcement learning techniques often use convolutional neural networks (CNN) as universal function approximators to choose which action to take for a given visual input. Until recently, CNNs have been treated like black-box functions, but this mindset is especially dangerous when used for control…
Paper proposes scalable multi-label classification for edge devices using CNN.
problem Challenges in deploying multi-label CNN models on edge devices due to high computation and memory requirements.
method Extends existing multi-label classification methods with a single CNN model and multiple loss and accuracy layers.
result Achieves comparable accuracy with 1.8x less MACC operations, 0.97x reduction in latency and 0.5x, 0.84x, 0.97x reduction in size for generated CNN models.
We introduce a Bayesian defect detector to facilitate the defect detection on the motion blurred images on rough texture surfaces. To enhance the accuracy of Bayesian detection on removing non-defect pixels, we develop a class of reflected non-local prior distributions, which is constructed by using the mode of a distr…
Motivated by the need to automate medical information extraction from free-text radiological reports, we present a bi-directional long short-term memory (BiLSTM) neural network architecture for modelling radiological language. The model has been used to address two NLP tasks: medical named-entity recognition (NER) and …
When devising a course of treatment for a patient, doctors often have little quantitative evidence on which to base their decisions, beyond their medical education and published clinical trials. Stanford Health Care alone has millions of electronic medical records (EMRs) that are only just recently being leveraged to i…
Improved person detection in occluded conditions with AOS images.
problem Inaccurate classification of partially occluded people, animals, or objects.
method Combining multi-perspective images captured by Airborne Optical Sectioning (AOS) to achieve better precision and recall.
result Precision/recall of 96/93% for automated person detection.
3D point cloud attacks examine how neural networks can be fooled.
problem Understanding how 3D neural networks can be exploited by attackers.
method Examined two categories of attacks: distributional and shape attacks.
result Some shape attacks can fool 3D point cloud classification models even after preprocessing.
Deep Neural Networks (DNNs) are increasingly deployed in highly energy-constrained environments such as autonomous drones and wearable devices while at the same time must operate in real-time. Therefore, reducing the energy consumption has become a major design consideration in DNN training. This paper proposes the fir…
Spherical CNNscs.LG
Convolutional Neural Networks (CNNs) have become the method of choice for learning problems involving 2D planar images. However, a number of problems of recent interest have created a demand for models that can analyze spherical images. Examples include omnidirectional vision for drones, robots, and autonomous cars, mo…
Text embedding representing natural language documents in a semantic vector space can be used for document retrieval using nearest neighbor lookup. In order to study the feasibility of neural models specialized for retrieval in a semantically meaningful way, we suggest the use of the Stanford Question Answering Dataset…
Combines neural networks and STL for multi-class time-series classification.
problem Lack of interpretability in neural networks for time-series data.
method Proposes a method that uses neural networks to classify time-series data using STL specifications, introducing margin for multi-class classification and STL-based attributes for interpretability.
result Evaluations show improved interpretability and performance compared to state-of-the-art baselines.
A new method for learning policies in multiple environments.
problem Learning policies that work in different but related environments.
method Decentralized entropy-regularized policy gradient method.
result The method can learn effective policies in multiple environments.
Paper connects volumes of moduli spaces of super Riemann surfaces to integrals over stable Riemann surfaces.
problem Relating volumes of moduli spaces of super Riemann surfaces to integrals over stable Riemann surfaces.
method Relates volumes of moduli spaces of super Riemann surfaces to integrals over the moduli space of stable Riemann surfaces .
result Proves recursion between volumes of moduli spaces of super hyperbolic surfaces using algebraic geometry.
Reinforcement learning (RL) has advanced greatly in the past few years with the employment of effective deep neural networks (DNNs) on the policy networks. With the great effectiveness came serious vulnerability issues with DNNs that small adversarial perturbations on the input can change the output of the network. Sev…
A new method uses optimal transport for semi-supervised classification.
problem Semi-supervised learning with limited labeled data.
method Optimal transport formulation with Sinkhorn iteration for label assignment.
result Improved performance on CIFAR-10, CIFAR-100, and SVHN datasets compared to FixMatch.
Deep neural networks (DNNs) have achieved impressive predictive performance due to their ability to learn complex, non-linear relationships between variables. However, the inability to effectively visualize these relationships has led to DNNs being characterized as black boxes and consequently limited their application…