Masayoshi Tomizuka

Automatic Construction of Lane-level HD Maps for Urban Scenes

High definition (HD) maps have demonstrated their essential roles in ena...
07/23/2021 ∙ by Yiyang Zhou, et al. ∙ 0 ∙ share

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Image2Point: 3D Point-Cloud Understanding with Pretrained 2D ConvNets

3D point-clouds and 2D images are different visual representations of th...
06/08/2021 ∙ by Chenfeng Xu, et al. ∙ 4 ∙ share

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Negotiation-Aware Reachability-Based Safety Verification for AutonomousDriving in Interactive Scenarios

Safety assurance is a critical yet challenging aspect when developing se...
06/04/2021 ∙ by Ran Tian, et al. ∙ 0 ∙ share

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History Encoding Representation Design for Human Intention Inference

In this extended abstract, we investigate the design of learning represe...
06/04/2021 ∙ by Zhuo Xu, et al. ∙ 0 ∙ share

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Trajectory Optimization for Manipulation of Deformable Objects: Assembly of Belt Drive Units

This paper presents a novel trajectory optimization formulation to solve...
06/02/2021 ∙ by Shiyu Jin, et al. ∙ 0 ∙ share

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Development of Soft Tactile Sensor for Force Measurement and Position Detection

As more robots are implemented for contact-rich tasks, tactile sensors a...
05/15/2021 ∙ by Wu-Te Yang, et al. ∙ 0 ∙ share

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6-DoF Contrastive Grasp Proposal Network

Proposing grasp poses for novel objects is an essential component for an...
03/29/2021 ∙ by Xinghao Zhu, et al. ∙ 0 ∙ share

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You Only Group Once: Efficient Point-Cloud Processing with Token Representation and Relation Inference Module

3D point-cloud-based perception is a challenging but crucial computer vi...
03/18/2021 ∙ by Chenfeng Xu, et al. ∙ 0 ∙ share

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Learning Human Rewards by Inferring Their Latent Intelligence Levels in Multi-Agent Games: A Theory-of-Mind Approach with Application to Driving Data

Reward function, as an incentive representation that recognizes humans' ...
03/07/2021 ∙ by Ran Tian, et al. ∙ 0 ∙ share

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A Simple and Efficient Multi-task Network for 3D Object Detection and Road Understanding

Detecting dynamic objects and predicting static road information such as...
03/06/2021 ∙ by Di Feng, et al. ∙ 0 ∙ share

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Diverse Critical Interaction Generation for Planning and Planner Evaluation

Generating diverse and comprehensive interacting agents to evaluate the ...
03/01/2021 ∙ by Zhao-Heng Yin, et al. ∙ 0 ∙ share

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Grounded Relational Inference: Domain Knowledge Driven Explainable Autonomous Driving

Explainability is essential for autonomous vehicles and other robotics s...
02/23/2021 ∙ by Chen Tang, et al. ∙ 2 ∙ share

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Learning Variable Impedance Control via Inverse Reinforcement Learning for Force-Related Tasks

Many manipulation tasks require robots to interact with unknown environm...
02/13/2021 ∙ by Xiang Zhang, et al. ∙ 0 ∙ share

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Practical Fractional-Order Variable-Gain Super-Twisting Control with Application to Wafer Stages of Photolithography Systems

In this paper, a practical fractional-order variable-gain super-twisting...
02/06/2021 ∙ by Zhian Kuang, et al. ∙ 0 ∙ share

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Feedback-based Digital Higher-order Terminal Sliding Mode for 6-DOF Industrial Manipulators

The precise motion control of a multi-degree of freedom (DOF) robot mani...
02/06/2021 ∙ by Zhian Kuang, et al. ∙ 0 ∙ share

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Precise Motion Control of Wafer Stages via Adaptive Neural Network and Fractional-Order Super-Twisting Algorithm

To obtain precise motion control of wafer stages, an adaptive neural net...
01/31/2021 ∙ by Zhian Kuang, et al. ∙ 0 ∙ share

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Contact Pose Identification for Peg-in-Hole Assembly under Uncertainties

Peg-in-hole assembly is a challenging contact-rich manipulation task. Th...
01/29/2021 ∙ by Shiyu Jin, et al. ∙ 0 ∙ share

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A Safe Hierarchical Planning Framework for Complex Driving Scenarios based on Reinforcement Learning

Autonomous vehicles need to handle various traffic conditions and make s...
01/17/2021 ∙ by Jinning Li, et al. ∙ 0 ∙ share

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Interaction-Aware Behavior Planning for Autonomous Vehicles Validated with Real Traffic Data

Autonomous vehicles (AVs) need to interact with other traffic participan...
01/15/2021 ∙ by Jinning Li, et al. ∙ 0 ∙ share

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Labels Are Not Perfect: Inferring Spatial Uncertainty in Object Detection

The availability of many real-world driving datasets is a key reason beh...
12/18/2020 ∙ by Di Feng, et al. ∙ 13 ∙ share

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Sparse R-CNN: End-to-End Object Detection with Learnable Proposals

We present Sparse R-CNN, a purely sparse method for object detection in ...
11/25/2020 ∙ by Peize Sun, et al. ∙ 0 ∙ share

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Prediction-Based Reachability for Collision Avoidance in Autonomous Driving

Safety is an important topic in autonomous driving since any collision m...
11/24/2020 ∙ by Anjian Li, et al. ∙ 0 ∙ share

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COCOI: Contact-aware Online Context Inference for Generalizable Non-planar Pushing

General contact-rich manipulation problems are long-standing challenges ...
11/23/2020 ∙ by Zhuo Xu, et al. ∙ 0 ∙ share

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Learning Dense Rewards for Contact-Rich Manipulation Tasks

Rewards play a crucial role in reinforcement learning. To arrive at the ...
11/17/2020 ∙ by Zheng Wu, et al. ∙ 0 ∙ share

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IDE-Net: Interactive Driving Event and Pattern Extraction from Human Data

Autonomous vehicles (AVs) need to share the road with multiple, heteroge...
11/04/2020 ∙ by Xiaosong Jia, et al. ∙ 0 ∙ share

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Alternating Direction Method of Multipliers for Constrained Iterative LQR in Autonomous Driving

In the context of autonomous driving, the iterative linear quadratic reg...
11/01/2020 ∙ by Jun Ma, et al. ∙ 0 ∙ share

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Socially-Compatible Behavior Design of Autonomous Vehicles with Verification on Real Human Data

As more and more autonomous vehicles (AVs) are being deployed on public ...
10/28/2020 ∙ by Letian Wang, et al. ∙ 0 ∙ share

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Bounded Risk-Sensitive Markov Game and Its Inverse Reward Learning Problem

Classical game-theoretic approaches for multi-agent systems in both the ...
09/03/2020 ∙ by Ran Tian, et al. ∙ 12 ∙ share

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Expressing Diverse Human Driving Behavior with Probabilistic Rewards and Online Inference

In human-robot interaction (HRI) systems, such as autonomous vehicles, u...
08/20/2020 ∙ by Liting Sun, et al. ∙ 0 ∙ share

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Data-Driven Multi-Objective Controller Optimization for a Magnetically-Levitated Nanopositioning System

The performance achieved with traditional model-based control system des...
07/06/2020 ∙ by Xiaocong Li, et al. ∙ 0 ∙ share

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Towards Better Performance and More Explainable Uncertainty for 3D Object Detection of Autonomous Vehicles

In this paper, we propose a novel form of the loss function to increase ...
06/22/2020 ∙ by Hujie Pan, et al. ∙ 0 ∙ share

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Efficient Sampling-Based Maximum Entropy Inverse Reinforcement Learning with Application to Autonomous Driving

In the past decades, we have witnessed significant progress in the domai...
06/22/2020 ∙ by Zheng Wu, et al. ∙ 0 ∙ share

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In Proximity of ReLU DNN, PWA Function, and Explicit MPC

Rectifier (ReLU) deep neural networks (DNN) and their connection with pi...
06/09/2020 ∙ by Saman Fahandezh-Saadi, et al. ∙ 0 ∙ share

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Visual Transformers: Token-based Image Representation and Processing for Computer Vision

Computer vision has achieved great success using standardized image repr...
06/05/2020 ∙ by Bichen Wu, et al. ∙ 23 ∙ share

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Cascade Attribute Network: Decomposing Reinforcement Learning Control Policies using Hierarchical Neural Networks

Reinforcement learning methods have been developed to achieve great succ...
05/07/2020 ∙ by Haonan Chang, et al. ∙ 0 ∙ share

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Guided Policy Search Model-based Reinforcement Learning for Urban Autonomous Driving

In this paper, we continue our prior work on using imitation learning (I...
05/06/2020 ∙ by Zhuo Xu, et al. ∙ 0 ∙ share

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Scenario-Transferable Semantic Graph Reasoning for Interaction-Aware Probabilistic Prediction

Accurately predicting the possible behaviors of traffic participants is ...
04/07/2020 ∙ by Yeping Hu, et al. ∙ 0 ∙ share

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SqueezeSegV3: Spatially-Adaptive Convolution for Efficient Point-Cloud Segmentation

LiDAR point-cloud segmentation is an important problem for many applicat...
04/03/2020 ∙ by Chenfeng Xu, et al. ∙ 4 ∙ share

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EvolveGraph: Heterogeneous Multi-Agent Multi-Modal Trajectory Prediction with Evolving Interaction Graphs

Multi-agent interacting systems are prevalent in the world, from pure ph...
03/31/2020 ∙ by Jiachen Li, et al. ∙ 10 ∙ share

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End-to-end Autonomous Driving Perception with Sequential Latent Representation Learning

Current autonomous driving systems are composed of a perception system a...
03/21/2020 ∙ by Jianyu Chen, et al. ∙ 0 ∙ share

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Inferring Spatial Uncertainty in Object Detection

The availability of real-world datasets is the prerequisite to develop o...
03/07/2020 ∙ by Zining Wang, et al. ∙ 9 ∙ share

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Social-WaGDAT: Interaction-aware Trajectory Prediction via Wasserstein Graph Double-Attention Network

Effective understanding of the environment and accurate trajectory predi...
02/14/2020 ∙ by Jiachen Li, et al. ∙ 7 ∙ share

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Experimental Evaluation of Human Motion Prediction: Toward Safe and Efficient Human Robot Collaboration

Human motion prediction is non-trivial in modern industrial settings. Ac...
01/27/2020 ∙ by Weiye Zhao, et al. ∙ 0 ∙ share

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Interpretable End-to-end Urban Autonomous Driving with Latent Deep Reinforcement Learning

Unlike popular modularized framework, end-to-end autonomous driving seek...
01/23/2020 ∙ by Jianyu Chen, et al. ∙ 38 ∙ share

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AutoScale: Learning to Scale for Crowd Counting

Crowd counting in images is a widely explored but challenging task. Thou...
12/20/2019 ∙ by Chenfeng Xu, et al. ∙ 13 ∙ share

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UrbanLoco: A Full Sensor Suite Dataset for Mapping and Localization in Urban Scenes

Mapping and localization is a critical module of autonomous driving, and...
12/19/2019 ∙ by Weisong Wen, et al. ∙ 19 ∙ share

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Robust Feature-Based Point Registration Using Directional Mixture Model

This paper presents a robust probabilistic point registration method for...
11/25/2019 ∙ by Saman Fahandezh-Saadi, et al. ∙ 0 ∙ share

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Adaptive Probabilistic Vehicle Trajectory Prediction Through Physically Feasible Bayesian Recurrent Neural Network

Probabilistic vehicle trajectory prediction is essential for robust safe...
11/11/2019 ∙ by Chen Tang, et al. ∙ 0 ∙ share

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Multiple criteria decision-making for lane-change model

Simulation has long been an essential part of testing autonomous driving...
10/22/2019 ∙ by Ao Li, et al. ∙ 0 ∙ share

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Online Learning in Planar Pushing with Combined Prediction Model

Pushing is a useful robotic capability for positioning and reorienting o...
10/17/2019 ∙ by Huidong Gao, et al. ∙ 0 ∙ share

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Masayoshi Tomizuka

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