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It is well understood that in ADAS applications, a good estimate of the pose of the vehicle is required. This paper proposes a metaphorically named 2.5D odometry, whereby the planar odometry derived from the yaw rate sensor and four wheel speed sensors is augmented by a linear model of suspension. While the core of the planar odometry is a yaw rate model that is already understood in the literature, we augment this by fitting a quadratic to the incoming signals, enabling interpolation, extrapolation, and a finer integration of the vehicle position. We show, by experimental results with a DGPS/IMU reference, that this model provides highly accurate odometry estimates, compared with existing methods. Utilising sensors that return the change in height of vehicle reference points with changing suspension configurations, we define a planar model of the vehicle suspension, thus augmenting the odometry model. We present an experimental framework and evaluations criteria by which the goodness of the odometry is evaluated and compared with existing methods. This odometry model has been designed to support low-speed surround-view camera systems that are well-known. Thus, we present some application results that show a performance boost for viewing and computer vision applications using the proposed odometry

In many practices, scientists are particularly interested in detecting which of the predictors are truly associated with a multivariate response. It is more accurate to model multiple responses as one vector rather than separating each component one by one. This is particularly true for complex traits having multiple correlated components. A Bayesian multivariate variable selection (BMVS) approach is proposed to select important predictors influencing the multivariate response from a candidate pool with an ultrahigh dimension. By applying the sample-size-dependent spike and slab priors, the BMVS approach satisfies the strong selection consistency property under certain conditions, which represents the advantages of BMVS over other existing Bayesian multivariate regression-based approaches. The proposed approach considers the covariance structure of multiple responses without assuming independence and integrates the estimation of covariance-related parameters together with all regression parameters into one framework through a fast updating MCMC procedure. It is demonstrated through simulations that the BMVS approach outperforms some other relevant frequentist and Bayesian approaches. The proposed BMVS approach possesses the flexibility of wide applications, including genome-wide association studies with multiple correlated phenotypes and a large scale of genetic variants and/or environmental variables, as demonstrated in the real data analyses section. The computer code and test data of the proposed method are available as an R package.

We describe a framework for changing-contact robot manipulation tasks that require the robot to make and break contacts with objects and surfaces. The discontinuous interaction dynamics of such tasks make it difficult to construct and use a single dynamics model or control strategy, and the highly non-linear nature of the dynamics during contact changes can be damaging to the robot and the objects. We present an adaptive control framework that enables the robot to incrementally learn to predict contact changes in a changing contact task, learn the interaction dynamics of the piece-wise continuous system, and provide smooth and accurate trajectory tracking using a task-space variable impedance controller. We experimentally compare the performance of our framework against that of representative control methods to establish that the adaptive control and incremental learning components of our framework are needed to achieve smooth control in the presence of discontinuous dynamics in changing-contact robot manipulation tasks.

The incorporation of appropriate inductive bias plays a critical role in learning dynamics from data. A growing body of work has been exploring ways to enforce energy conservation in the learned dynamics by encoding Lagrangian or Hamiltonian dynamics into the neural network architecture. These existing approaches are based on differential equations, which do not allow discontinuity in the states and thereby limit the class of systems one can learn. However, in reality, most physical systems, such as legged robots and robotic manipulators, involve contacts and collisions, which introduce discontinuities in the states. In this paper, we introduce a differentiable contact model, which can capture contact mechanics: frictionless/frictional, as well as elastic/inelastic. This model can also accommodate inequality constraints, such as limits on the joint angles. The proposed contact model extends the scope of Lagrangian and Hamiltonian neural networks by allowing simultaneous learning of contact and system properties. We demonstrate this framework on a series of challenging 2D and 3D physical systems with different coefficients of restitution and friction. The learned dynamics can be used as a differentiable physics simulator for downstream gradient-based optimization tasks, such as planning and control.

Trajectory optimization and model predictive control are essential techniques underpinning advanced robotic applications, ranging from autonomous driving to full-body humanoid control. State-of-the-art algorithms have focused on data-driven approaches that infer the system dynamics online and incorporate posterior uncertainty during planning and control. Despite their success, such approaches are still susceptible to catastrophic errors that may arise due to statistical learning biases, unmodeled disturbances, or even directed adversarial attacks. In this paper, we tackle the problem of dynamics mismatch and propose a distributionally robust optimal control formulation that alternates between two relative entropy trust-region optimization problems. Our method finds the worst-case maximum entropy Gaussian posterior over the dynamics parameters and the corresponding robust policy. Furthermore, we show that our approach admits a closed-form backward-pass for a certain class of systems. Finally, we demonstrate the resulting robustness on linear and nonlinear numerical examples.

We study constrained reinforcement learning (CRL) from a novel perspective by setting constraints directly on state density functions, rather than the value functions considered by previous works. State density has a clear physical and mathematical interpretation, and is able to express a wide variety of constraints such as resource limits and safety requirements. Density constraints can also avoid the time-consuming process of designing and tuning cost functions required by value function-based constraints to encode system specifications. We leverage the duality between density functions and Q functions to develop an effective algorithm to solve the density constrained RL problem optimally and the constrains are guaranteed to be satisfied. We prove that the proposed algorithm converges to a near-optimal solution with a bounded error even when the policy update is imperfect. We use a set of comprehensive experiments to demonstrate the advantages of our approach over state-of-the-art CRL methods, with a wide range of density constrained tasks as well as standard CRL benchmarks such as Safety-Gym.

When we humans look at a video of human-object interaction, we can not only infer what is happening but we can even extract actionable information and imitate those interactions. On the other hand, current recognition or geometric approaches lack the physicality of action representation. In this paper, we take a step towards a more physical understanding of actions. We address the problem of inferring contact points and the physical forces from videos of humans interacting with objects. One of the main challenges in tackling this problem is obtaining ground-truth labels for forces. We sidestep this problem by instead using a physics simulator for supervision. Specifically, we use a simulator to predict effects and enforce that estimated forces must lead to the same effect as depicted in the video. Our quantitative and qualitative results show that (a) we can predict meaningful forces from videos whose effects lead to accurate imitation of the motions observed, (b) by jointly optimizing for contact point and force prediction, we can improve the performance on both tasks in comparison to independent training, and (c) we can learn a representation from this model that generalizes to novel objects using few shot examples.

Inferring the most likely configuration for a subset of variables of a joint distribution given the remaining ones - which we refer to as co-generation - is an important challenge that is computationally demanding for all but the simplest settings. This task has received a considerable amount of attention, particularly for classical ways of modeling distributions like structured prediction. In contrast, almost nothing is known about this task when considering recently proposed techniques for modeling high-dimensional distributions, particularly generative adversarial nets (GANs). Therefore, in this paper, we study the occurring challenges for co-generation with GANs. To address those challenges we develop an annealed importance sampling based Hamiltonian Monte Carlo co-generation algorithm. The presented approach significantly outperforms classical gradient based methods on a synthetic and on the CelebA and LSUN datasets.

3D vehicle detection and tracking from a monocular camera requires detecting and associating vehicles, and estimating their locations and extents together. It is challenging because vehicles are in constant motion and it is practically impossible to recover the 3D positions from a single image. In this paper, we propose a novel framework that jointly detects and tracks 3D vehicle bounding boxes. Our approach leverages 3D pose estimation to learn 2D patch association overtime and uses temporal information from tracking to obtain stable 3D estimation. Our method also leverages 3D box depth ordering and motion to link together the tracks of occluded objects. We train our system on realistic 3D virtual environments, collecting a new diverse, large-scale and densely annotated dataset with accurate 3D trajectory annotations. Our experiments demonstrate that our method benefits from inferring 3D for both data association and tracking robustness, leveraging our dynamic 3D tracking dataset.

Seam-cutting and seam-driven techniques have been proven effective for handling imperfect image series in image stitching. Generally, seam-driven is to utilize seam-cutting to find a best seam from one or finite alignment hypotheses based on a predefined seam quality metric. However, the quality metrics in most methods are defined to measure the average performance of the pixels on the seam without considering the relevance and variance among them. This may cause that the seam with the minimal measure is not optimal (perception-inconsistent) in human perception. In this paper, we propose a novel coarse-to-fine seam estimation method which applies the evaluation in a different way. For pixels on the seam, we develop a patch-point evaluation algorithm concentrating more on the correlation and variation of them. The evaluations are then used to recalculate the difference map of the overlapping region and reestimate a stitching seam. This evaluation-reestimation procedure iterates until the current seam changes negligibly comparing with the previous seams. Experiments show that our proposed method can finally find a nearly perception-consistent seam after several iterations, which outperforms the conventional seam-cutting and other seam-driven methods.