Masayoshi Tomizuka

research

∙ 09/18/2023

Pre-training on Synthetic Driving Data for Trajectory Prediction

Accumulating substantial volumes of real-world driving data proves pivot...

0 Yiheng Li, et al. ∙

research

∙ 09/18/2023

Guided Online Distillation: Promoting Safe Reinforcement Learning by Offline Demonstration

Safe Reinforcement Learning (RL) aims to find a policy that achieves hig...

0 Jinning Li, et al. ∙

research

∙ 08/29/2023

Robot Manipulation Task Learning by Leveraging SE(3) Group Invariance and Equivariance

This paper presents a differential geometric control approach that lever...

0 Joohwan Seo, et al. ∙

research

∙ 08/08/2023

DELFlow: Dense Efficient Learning of Scene Flow for Large-Scale Point Clouds

Point clouds are naturally sparse, while image pixels are dense. The inc...

0 Chensheng Peng, et al. ∙

research

∙ 07/27/2023

NeRF-Det: Learning Geometry-Aware Volumetric Representation for Multi-View 3D Object Detection

We present NeRF-Det, a novel method for indoor 3D detection with posed R...

0 Chenfeng Xu, et al. ∙

research

∙ 06/29/2023

An Efficient General-Purpose Modular Vision Model via Multi-Task Heterogeneous Training

We present a model that can perform multiple vision tasks and can be ada...

0 Zitian Chen, et al. ∙

research

∙ 06/15/2023

Residual Q-Learning: Offline and Online Policy Customization without Value

Imitation Learning (IL) is a widely used framework for learning imitativ...

0 Chenran Li, et al. ∙

research

∙ 06/15/2023

Learning from Local Experience: Informed Sampling Distributions for High Dimensional Motion Planning

This paper presents a sampling-based motion planning framework that leve...

0 Keita Kobashi, et al. ∙

research

∙ 06/14/2023

Skill-Critic: Refining Learned Skills for Reinforcement Learning

Hierarchical reinforcement learning (RL) can accelerate long-horizon dec...

0 Ce Hao, et al. ∙

research

∙ 06/02/2023

Efficient Multi-Task and Transfer Reinforcement Learning with Parameter-Compositional Framework

In this work, we investigate the potential of improving multi-task train...

0 Lingfeng Sun, et al. ∙

research

∙ 05/12/2023

Double-Iterative Gaussian Process Regression for Modeling Error Compensation in Autonomous Racing

Autonomous racing control is a challenging research problem as vehicles ...

0 Shaoshu Su, et al. ∙

research

∙ 05/04/2023

Learning Generalizable Pivoting Skills

The skill of pivoting an object with a robotic system is challenging for...

0 Xiang Zhang, et al. ∙

research

∙ 04/27/2023

SparseFusion: Fusing Multi-Modal Sparse Representations for Multi-Sensor 3D Object Detection

By identifying four important components of existing LiDAR-camera 3D obj...

0 Yichen Xie, et al. ∙

research

∙ 04/27/2023

Quadric Representations for LiDAR Odometry, Mapping and Localization

Current LiDAR odometry, mapping and localization methods leverage point-...

0 Chao Xia, et al. ∙

research

∙ 04/03/2023

A Simple Approach for General Task-Oriented Picking using Placing constraints

Pick-and-place is an important manipulation task in domestic or manufact...

0 Jen-Wei Wang, et al. ∙

research

∙ 04/03/2023

Open-Vocabulary Point-Cloud Object Detection without 3D Annotation

The goal of open-vocabulary detection is to identify novel objects based...

0 Yuheng Lu, et al. ∙

research

∙ 03/25/2023

Active Finetuning: Exploiting Annotation Budget in the Pretraining-Finetuning Paradigm

Given the large-scale data and the high annotation cost, pretraining-fin...

0 Yichen Xie, et al. ∙

research

∙ 03/24/2023

Editing Driver Character: Socially-Controllable Behavior Generation for Interactive Traffic Simulation

Traffic simulation plays a crucial role in evaluating and improving auto...

0 Wei-Jer Chang, et al. ∙

research

∙ 02/03/2023

AdaptDiffuser: Diffusion Models as Adaptive Self-evolving Planners

Diffusion models have demonstrated their powerful generative capability ...

0 Zhixuan Liang, et al. ∙

research

∙ 01/30/2023

Online Learning Based Mobile Robot Controller Adaptation for Slip Reduction

Slip is a very common phenomena present in wheeled mobile robotic system...

0 Huidong Gao, et al. ∙

research

∙ 01/02/2023

Towards Modeling and Influencing the Dynamics of Human Learning

Humans have internal models of robots (like their physical capabilities)...

0 Ran Tian, et al. ∙

research

∙ 12/20/2022

Continuous Trajectory Optimization via B-splines for Multi-jointed Robotic Systems

Continuous formulations of trajectory planning problems have two main be...

0 Changhao Wang, et al. ∙

research

∙ 12/02/2022

Prim-LAfD: A Framework to Learn and Adapt Primitive-Based Skills from Demonstrations for Insertion Tasks

Learning generalizable insertion skills in a data-efficient manner has l...

0 Zheng Wu, et al. ∙

research

∙ 11/17/2022

Outracing Human Racers with Model-based Autonomous Racing

Autonomous racing has become a popular sub-topic of autonomous driving i...

0 Ce Hao, et al. ∙

research

∙ 10/31/2022

Allowing Safe Contact in Robotic Goal-Reaching: Planning and Tracking in Operational and Null Spaces

In recent years, impressive results have been achieved in robotic manipu...

0 Xinghao Zhu, et al. ∙

research

∙ 10/21/2022

PaCo: Parameter-Compositional Multi-Task Reinforcement Learning

The purpose of multi-task reinforcement learning (MTRL) is to train a si...

0 Lingfeng Sun, et al. ∙

research

∙ 10/05/2022

Time Will Tell: New Outlooks and A Baseline for Temporal Multi-View 3D Object Detection

While recent camera-only 3D detection methods leverage multiple timestep...

0 Jinhyung Park, et al. ∙

research

∙ 10/01/2022

Zero-Shot Policy Transfer with Disentangled Task Representation of Meta-Reinforcement Learning

Humans are capable of abstracting various tasks as different combination...

0 Zheng Wu, et al. ∙

research

∙ 09/26/2022

Center Feature Fusion: Selective Multi-Sensor Fusion of Center-based Objects

Leveraging multi-modal fusion, especially between camera and LiDAR, has ...

0 Philip Jacobson, et al. ∙

research

∙ 08/09/2022

Analyzing and Enhancing Closed-loop Stability in Reactive Simulation

Simulation has played an important role in efficiently evaluating self-d...

0 Wei-Jer Chang, et al. ∙

research

∙ 08/06/2022

Generalizability Analysis of Graph-based Trajectory Predictor with Vectorized Representation

Trajectory prediction is one of the essential tasks for autonomous vehic...

0 Juanwu Lu, et al. ∙

research

∙ 07/19/2022

What Matters for 3D Scene Flow Network

3D scene flow estimation from point clouds is a low-level 3D motion perc...

0 Guangming Wang, et al. ∙

research

∙ 07/08/2022

SST-Calib: Simultaneous Spatial-Temporal Parameter Calibration between LIDAR and Camera

With information from multiple input modalities, sensor fusion-based alg...

1 Akio Kodaira, et al. ∙

research

∙ 07/08/2022

Efficient Game-Theoretic Planning with Prediction Heuristic for Socially-Compliant Autonomous Driving

Planning under social interactions with other agents is an essential pro...

0 Chenran Li, et al. ∙

research

∙ 07/05/2022

Open-Vocabulary 3D Detection via Image-level Class and Debiased Cross-modal Contrastive Learning

Current point-cloud detection methods have difficulty detecting the open...

0 Yuheng Lu, et al. ∙

research

∙ 05/24/2022

Hierarchical Planning Through Goal-Conditioned Offline Reinforcement Learning

Offline Reinforcement learning (RL) has shown potent in many safe-critic...

0 Jinning Li, et al. ∙

research

∙ 04/21/2022

PreTraM: Self-Supervised Pre-training via Connecting Trajectory and Map

Deep learning has recently achieved significant progress in trajectory f...

0 Chenfeng Xu, et al. ∙

research

∙ 04/21/2022

Autonomous Vehicle Parking in Dynamic Environments: An Integrated System with Prediction and Motion Planning

This paper presents an integrated motion planning system for autonomous ...

0 Jessica Leu, et al. ∙

research

∙ 04/19/2022

Interventional Behavior Prediction: Avoiding Overly Confident Anticipation in Interactive Prediction

Conditional behavior prediction (CBP) builds up the foundation for a coh...

0 Chen Tang, et al. ∙

research

∙ 04/17/2022

Long-Horizon Motion Planning via Sampling and Segmented Trajectory Optimization

This paper presents a hybrid robot motion planner that generates long-ho...

0 Jessica Leu, et al. ∙

research

∙ 04/17/2022

Robust Task Planning for Assembly Lines with Human-Robot Collaboration

Efficient and robust task planning for a human-robot collaboration (HRC)...

0 Jessica Leu, et al. ∙

research

∙ 03/29/2022

Learning to Synthesize Volumetric Meshes from Vision-based Tactile Imprints

Vision-based tactile sensors typically utilize a deformable elastomer an...

9 Xinghao Zhu, et al. ∙

research

∙ 03/28/2022

Domain Knowledge Driven Pseudo Labels for Interpretable Goal-Conditioned Interactive Trajectory Prediction

Motion forecasting in highly interactive scenarios is a challenging prob...

6 Lingfeng Sun, et al. ∙

research

∙ 03/28/2022

Offline-Online Learning of Deformation Model for Cable Manipulation with Graph Neural Networks

Manipulating deformable linear objects by robots has a wide range of app...

0 Changhao Wang, et al. ∙

research

∙ 03/17/2022

DetMatch: Two Teachers are Better Than One for Joint 2D and 3D Semi-Supervised Object Detection

While numerous 3D detection works leverage the complementary relationshi...

0 Jinhyung Park, et al. ∙

research

∙ 02/20/2022

Velocity Obstacle Based Risk-Bounded Motion Planning for Stochastic Multi-Agent Systems

In this paper, we present an innovative risk-bounded motion planning met...

0 Xiaoxue Zhang, et al. ∙

research

∙ 02/10/2022

Transferable and Adaptable Driving Behavior Prediction

While autonomous vehicles still struggle to solve challenging situations...

0 Letian Wang, et al. ∙

research

∙ 01/04/2022

Learning Differentiable Safety-Critical Control using Control Barrier Functions for Generalization to Novel Environments

Control barrier functions (CBFs) have become a popular tool to enforce s...

5 Hengbo Ma, et al. ∙

research

∙ 12/15/2021

Towards General and Efficient Active Learning

Active learning aims to select the most informative samples to exploit l...

0 Yichen Xie, et al. ∙

research

∙ 12/03/2021

Causal-based Time Series Domain Generalization for Vehicle Intention Prediction

Accurately predicting possible behaviors of traffic participants is an e...

0 Yeping Hu, et al. ∙

Masayoshi Tomizuka

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