Hojin Lee

Continual Learning for Traversability Prediction with Uncertainty-Aware Adaptation

Continual Learning for Traversability Prediction With Uncertainty-Aware Adaptation

Traversability prediction is a critical component of autonomous navigation in unstructured environments, where complex and uncertain robot-terrain interactions pose significant challenges such as traction loss and dynamic instability. Despite recent progress in learning-based traversability predicti

PROM: Pivoted and Regulated Optimization for Multilingual Instruction Learning

Large language models (LLMs) have become standard for natural language generation tasks, with instruction-tuning enhancing their capabilities. However, the lack of instruction-tuning datasets in languages other than English limits their application to diverse languages. To address this, researchers…

Controlled Text Generation for Black-box Language Models via Score-based Progressive Editor

Controlled text generation, aiming to ensure that language models produce text containing only the desired domain or corpus attributes, is immensely crucial in the practical application of language models. Existing methods, however, are inapplicable to black-box models or suffer a significant trade-…

Kernel-Based Metrics Learning for Uncertain Opponent Vehicle Trajectory Prediction in Autonomous Racing

Autonomous racing confronts significant challenges in safely overtaking Opponent Vehicles (OVs) that exhibit uncertain trajectories, stemming from unknown driving policies. To address these challenges, this study proposes heterogeneous kernel metrics for Deep Kernel Learning (DKL), designed to robus

Consistency is Key: On Data-Efficient Modality Transfer in Speech Translation

End-to-end approaches have shown promising results for speech translation (ST), but they suffer from its data scarcity compared to machine translation (MT). To address this, progressive training has become a common practice, of using external MT data during the fine-tuning phase. Despite of its prev…

Learning Terrain-Aware Kinodynamic Model for Autonomous Off-Road Rally Driving With Model Predictive Path Integral Control

High-speed autonomous driving in off-road environments has immense potential for various applications, but it also presents challenges due to the complexity of vehicle-terrain interactions. In such environments, it is crucial for the vehicle to predict its motion and adjust its controls proactively

Learning-based Uncertainty-aware Navigation in 3D Off-Road Terrains

This paper presents a safe, efficient, and agile ground vehicle navigation algorithm for 3D off-road terrain environments. Off-road navigation is subject to uncertain vehicle-terrain interactions caused by different terrain conditions on top of 3D terrain topology. The existing works are limited to…

Normalizing Mutual Information for Robust Adaptive Training for Translation

Despite the success of neural machine translation models, tensions between fluency of optimizing target language modeling and source-faithfulness remain as challenges. Previously, Conditional Bilingual Mutual Information (CBMI), a scoring metric for the importance of target sentences and tokens, was…

Physics Embedded Neural Network Vehicle Model and Applications in Risk-Aware Autonomous Driving Using Latent Features

Non-holonomic vehicle motion has been studied extensively using physics-based models. Common approaches when using these models interpret the wheel/ground interactions using a linear tire model and thus may not fully capture the nonlinear and complex dynamics under various environments. On the other…

TOAST: Trajectory Optimization and Simultaneous Tracking Using Shared Neural Network Dynamics

Neural networks have been increasingly employed in Model Predictive Controller (MPC) to control nonlinear dynamic systems. However, MPC still poses a problem that an achievable update rate is insufficient to cope with model uncertainty and external disturbances. In this letter, we present a novel co