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Publications associées (218)

Implicit Distance Functions: Learning and Applications in Robotics

In this thesis, we address the complex issue of collision avoidance in the joint space of robots. Avoiding collisions with both the robot's own body parts and obstacles in the environment is a critical constraint in motion planning and is crucial for ensur ...

EPFL2023

Deep Generative Models for Autonomous Driving: from Motion Forecasting to Realistic Image Synthesis

Saeed Saadatnejad

Forecasting is a capability inherent in humans when navigating. Humans routinely plan their paths, considering the potential future movements of those around them. Similarly, to achieve comparable sophistication and safety, autonomous systems must embrace ...

EPFL2023

Rapid motion estimation and correction using self-encoded FID navigators in 3D radial MRI

Tobias Kober, Davide Piccini

Purpose: To develop a self-navigated motion compensation strategy for 3D radial MRI that can compensate for continuous head motion by measuring rigid body motion parameters with high temporal resolution from the central k-space acquisition point (self-enco ...

Hoboken2023

Mapping the Charging Demand for Electric Vehicles in 2050 from Mobility Habits

Christophe Ballif, Alejandro Pena Bello, Noémie Alice Yvonne Ségolène Jeannin

This paper proposes a method to spatially model and compare charging needs on the European scale considering local disparities in population density, distance to city centres, car ownership and mobility habits. Mobility habits are modelled across Europe in ...

2023

Geometric and Learning Methods for Robots to Navigate in Human Crowds with Application to Smart Mobility Devices

David Julian Gonon

The thesis at hand is concerned with robots' navigation in human crowds. Specifically, methods are developed for planning a mobile robot's local motion between pedestrians, and they are evaluated in experiments where a robot interacts with real pedestrians ...

EPFL2023

Inverse Reinforcement Learning of Pedestrian-Robot Coordination

Aude Billard, David Julian Gonon

We apply inverse reinforcement learning (IRL) with a novel cost feature to the problem of robot navigation in human crowds. Consistent with prior empirical work on pedestrian behavior, the feature anticipates collisions between agents. We efficiently learn ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2023

Robust Training and Verification of Deep Neural Networks

Fabian Ricardo Latorre Gomez

According to the proposed Artificial Intelligence Act by the European Comission (expected to pass at the end of 2023), the class of High-Risk AI Systems (Title III) comprises several important applications of Deep Learning like autonomous driving vehicles ...

EPFL2023

SAGTTA: SALIENCY GUIDED TEST TIME AUGMENTATION FOR MEDICAL IMAGE SEGMENTATION ACROSS VENDOR DOMAIN SHIFT

Devavrat Tomar

Test time augmentation has been shown to be an effective approach to combat domain shifts in deep learning. Despite their promising performance levels, the interpretability of the underlying used models is however low. Saliency maps have been widely used i ...

New York2023

Multi-modal deformation and temperature sensing for context-sensitive machines

Jamie Paik, Fabio Zuliani, Neil Chennoufi, Sagar Dattatray Joshi, Robert Lawrence Baines

Owing to the remarkable properties of the somatosensory system, human skin compactly perceives myriad forms of physical stimuli with high precision. Machines, conversely, are often equipped with sensory suites constituted of dozens of unique sensors, each ...

Berlin2023

Vehicle trajectory prediction works, but not everywhere

Alexandre Massoud Alahi, Seyed Mohsen Moosavi Dezfooli, Ahmad Rahimi, Saeed Saadatnejad, Mohammadhossein Bahari

Vehicle trajectory prediction is nowadays a fundamental pillar of self-driving cars. Both the industry and research communities have acknowledged the need for such a pillar by providing public benchmarks. While state-of-the-art methods are impressive, i.e. ...

IEEE2022

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