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.
Predict steering angles of self-driving cars from images.
In recent years, car makers and tech companies have been racing towards self driving cars. It seems that the main parameter in this race is who will have the first car on the road. The goal of this paper is to add to the equation two additional crucial parameters. The first is standardization of safety assurance --- wh…
Improved motion prediction for self-driving cars using trajectory sets and auxiliary losses.
In this paper, we present a framework to control a self-driving car by fusing raw information from RGB images and depth maps. A deep neural network architecture is used for mapping the vision and depth information, respectively, to steering commands. This fusion of information from two sensor sources allows to provide …
New security patch for object tracking in self-driving cars mitigates vulnerabilities.
Deep RL mimics human driving for collision avoidance in self-driving cars.
This paper studies users' perception regarding a controversial product, namely self-driving (autonomous) cars. To find people's opinion regarding this new technology, we used an annotated Twitter dataset, and extracted the topics in positive and negative tweets using an unsupervised, probabilistic model known as topic …
Deep Neural Networks (DNNs) have tremendous potential in advancing the vision for self-driving cars. However, the security of DNN models in this context leads to major safety implications and needs to be better understood. We consider the case study of steering angle prediction from camera images, using the dataset fro…
This paper explores formal verification for autonomous systems, identifying limitations and proposing improvements.
The goal of this paper is to classify objects mapped by LiDAR sensor into different classes such as vehicles, pedestrians and bikers. Utilizing a LiDAR-based object detector and Neural Networks-based classifier, a novel real-time object detection is presented essentially with respect to aid self-driving vehicles in rec…
With the rise of self-driving vehicles comes the risk of accidents and the need for higher safety, and protection for pedestrian detection in the following scenarios: imminent crashes, thus the car should crash into an object and avoid the pedestrian, and in the case of road intersections, where it is important for the…
Automated vehicles learn to predict upcoming maneuvers with high accuracy.
Deep neural features identify unique vehicles from dash-cam feeds.
SELD-TCN improves sound event localization and detection efficiency.
VectorNet predicts car behavior using vectorized HD maps and agent dynamics.
A rise in popularity of Deep Neural Networks (DNNs), attributed to more powerful GPUs and widely available datasets, has seen them being increasingly used within safety-critical domains. One such domain, self-driving, has benefited from significant performance improvements, with millions of miles having been driven wit…
Shifts dataset evaluates uncertainty in real-world tasks across modalities.
DAD++ improves test-time adversarial defense without access to training data.
Comma.ai's approach to Artificial Intelligence for self-driving cars is based on an agent that learns to clone driver behaviors and plans maneuvers by simulating future events in the road. This paper illustrates one of our research approaches for driving simulation. One where we learn to simulate. Here we investigate v…
A core novelty of Alpha Zero is the interleaving of tree search and deep learning, which has proven very successful in board games like Chess, Shogi and Go. These games have a discrete action space. However, many real-world reinforcement learning domains have continuous action spaces, for example in robotic control, na…
Optical co-processor speeds up neural network training.
Machine learning models, especially based on deep architectures are used in everyday applications ranging from self driving cars to medical diagnostics. It has been shown that such models are dangerously susceptible to adversarial samples, indistinguishable from real samples to human eye, adversarial samples lead to in…
Technological breakthroughs on smart homes, self-driving cars, health care and robotic assistants, in addition to reinforced law regulations, have critically influenced academic research on explainable machine learning. A sufficient number of researchers have implemented ways to explain indifferently any black box mode…
Artificial intelligence (AI) is intrinsically data-driven. It calls for the application of statistical concepts through human-machine collaboration during generation of data, development of algorithms, and evaluation of results. This paper discusses how such human-machine collaboration can be approached through the sta…
Future autonomous systems need reliable world models and complex action sequences.
Algorithms that fuse multiple input sources benefit from both complementary and shared information. Shared information may provide robustness against faulty or noisy inputs, which is indispensable for safety-critical applications like self-driving cars. We investigate learning fusion algorithms that are robust against …
Machine-learning driven safety-critical autonomous systems, such as self-driving cars, must be able to detect situations where its trained model is not able to make a trustworthy prediction. Often viewed as a black-box, it is non-obvious to determine when a model will make a safe decision and when it will make an erron…
A technique to quickly fix mistakes in neural networks.
Motivated by vision-based control of autonomous vehicles, we consider the problem of controlling a known linear dynamical system for which partial state information, such as vehicle position, is extracted from complex and nonlinear data, such as a camera image. Our approach is to use a learned perception map that predi…
Fast and efficient motion planning algorithms are crucial for many state-of-the-art robotics applications such as self-driving cars. Existing motion planning methods become ineffective as their computational complexity increases exponentially with the dimensionality of the motion planning problem. To address this issue…
Study improves self-driving safety in dynamic environments.
Real-time detection of out-of-distribution data in CPS control systems.
Study shows reinforcement learning is possible with once-per-episode feedback.
Deep learning has become the state of the art approach in many machine learning problems such as classification. It has recently been shown that deep learning is highly vulnerable to adversarial perturbations. Taking the camera systems of self-driving cars as an example, small adversarial perturbations can cause the sy…
Combines neural networks and STL for multi-class time-series classification.
Self-training improves gradual domain adaptation with unlabeled data.
Depth perception is a key component for autonomous systems that interact in the real world, such as delivery robots, warehouse robots, and self-driving cars. Tasks in autonomous robotics such as 3D object recognition, simultaneous localization and mapping (SLAM), path planning and navigation, require some form of 3D sp…
Domain shift is unavoidable in real-world applications of object detection. For example, in self-driving cars, the target domain consists of unconstrained road environments which cannot all possibly be observed in training data. Similarly, in surveillance applications sufficiently representative training data may be la…
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…
Researchers develop PAIN to improve self-driving safety through adversarial training.
Deep neural networks have achieved state-of-art performance in many domains including computer vision, natural language processing and self-driving cars. However, they are very computationally expensive and memory intensive which raises significant challenges when it comes to deploy or train them on strict latency appl…
Semantically understanding complex drivers' encountering behavior, wherein two or multiple vehicles are spatially close to each other, does potentially benefit autonomous car's decision-making design. This paper presents a framework of analyzing various encountering behaviors through decomposing driving encounter data …
Point clouds provide a flexible and natural representation usable in countless applications such as robotics or self-driving cars. Recently, deep neural networks operating on raw point cloud data have shown promising results on supervised learning tasks such as object classification and semantic segmentation. While mas…
Fueled by massive amounts of data, models produced by machine-learning (ML) algorithms, especially deep neural networks, are being used in diverse domains where trustworthiness is a concern, including automotive systems, finance, health care, natural language processing, and malware detection. Of particular concern is …
PointPainting fuses lidar and image data for better 3D object detection.
The paper detects adversarial examples in LECs for regression in CPS using variational autoencoder.
End-to-end learnable network for safer self-driving with interpretable intermediate representations.
One of the most exciting technology breakthroughs in the last few years has been the rise of deep learning. State-of-the-art deep learning models are being widely deployed in academia and industry, across a variety of areas, from image analysis to natural language processing. These models have grown from fledgling rese…