The paper proves W[1]-hardness parameterized by dimension d for positivity, zonotope containment, max approximation, and L_p-Lipschitz constants in 2- and 3-layer ReLU networks, showing enumeration methods are optimal under ETH.
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End to End Learning for Self-Driving Cars
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abstract
We trained a convolutional neural network (CNN) to map raw pixels from a single front-facing camera directly to steering commands. This end-to-end approach proved surprisingly powerful. With minimum training data from humans the system learns to drive in traffic on local roads with or without lane markings and on highways. It also operates in areas with unclear visual guidance such as in parking lots and on unpaved roads. The system automatically learns internal representations of the necessary processing steps such as detecting useful road features with only the human steering angle as the training signal. We never explicitly trained it to detect, for example, the outline of roads. Compared to explicit decomposition of the problem, such as lane marking detection, path planning, and control, our end-to-end system optimizes all processing steps simultaneously. We argue that this will eventually lead to better performance and smaller systems. Better performance will result because the internal components self-optimize to maximize overall system performance, instead of optimizing human-selected intermediate criteria, e.g., lane detection. Such criteria understandably are selected for ease of human interpretation which doesn't automatically guarantee maximum system performance. Smaller networks are possible because the system learns to solve the problem with the minimal number of processing steps. We used an NVIDIA DevBox and Torch 7 for training and an NVIDIA DRIVE(TM) PX self-driving car computer also running Torch 7 for determining where to drive. The system operates at 30 frames per second (FPS).
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representative citing papers
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Bench2Drive-Robust is a new closed-loop benchmark that evaluates end-to-end autonomous driving models under deployment perturbations from camera failures, ego-state errors, and compute delays, showing substantial performance degradation beyond image-level tests.
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Sub-network Laplace approximations always underestimate full-model predictive variance, and two new gradient-based and greedy selection rules provide theoretically grounded improvements.
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A training-free method using Fourier-parameterized star-convex contours optimized via gradients to generate compact, faithful visual attributions for image classifiers on benchmarks like ImageNet.
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A tensor-based batch fuzzing framework with adaptive perturbation scaling from specification ranges achieves up to 40X higher throughput and 4X more detected violations than sequential baselines on DNN benchmarks.
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Smaller end-to-end autonomous driving models achieve optimal 3-second trajectory prediction accuracy at lower or intermediate temporal sampling frequencies, whereas larger VLA-style models perform best at the highest frequencies across Waymo, nuScenes, and PAVE datasets.
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A broad empirical benchmark shows how 15 existing test selection metrics perform for fault detection, performance estimation, and retraining under corrupted, adversarial, temporal, natural, and label shifts across image, text, and Android data.
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MVAdapt conditions end-to-end autonomous driving policies on explicit vehicle physics to achieve better zero-shot transfer and few-shot calibration across different vehicles in CARLA simulation.
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Safety-aware metrics and losses for 3D detection improve critical error handling in autonomous vehicle perception across single-vehicle, cooperative, and end-to-end settings.
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Reducing expert-student asymmetries in visibility, uncertainty, and route specification enables a new TransFuser v6 policy that reaches 95 DS on Bench2Drive and more than doubles prior scores on Longest6 v2 and Town13.
citing papers explorer
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FingerViP: Learning Real-World Dexterous Manipulation with Fingertip Visual Perception
FingerViP equips each finger with a miniature camera and trains a multi-view diffusion policy that achieves 80.8% success on real-world dexterous tasks previously limited by wrist-camera occlusion.
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Octo: An Open-Source Generalist Robot Policy
Octo is an open-source transformer-based generalist robot policy pretrained on 800k trajectories that serves as an effective initialization for finetuning across diverse robotic platforms.