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Output reference tracking of unknown nonlinear systems is considered. The control objective is exact tracking in predefined finite time, while in the transient phase the tracking error evolves within a prescribed boundary. To achieve this,…
BACKGROUND: Learning to perform new movements is usually achieved by following visual demonstrations. Haptic guidance by a force feedback device is a recent and original technology which provides additional proprioceptive cues during…
The goal of our work is to use visual attention to enhance autonomous driving performance. We present two methods of predicting visual attention maps. The first method is a supervised learning approach in which we collect eye-gaze data for…
Co-optimization of both vehicle speed and gear position via model predictive control (MPC) has been shown to offer benefits for fuel-efficient autonomous driving. However, optimizing both the vehicle's continuous dynamics and discrete gear…
To serve the intricate and varied demands of image editing, precise and flexible manipulation in image content is indispensable. Recently, Drag-based editing methods have gained impressive performance. However, these methods predominantly…
This paper describes a novel method to solve average-reward semi-Markov decision processes, by reducing them to a minimal sequence of cumulative reward problems. The usual solution methods for this type of problems update the gain (optimal…
The accurate visual tracking of a moving object is a human fundamental skill that allows to reduce the relative slip and instability of the object's image on the retina, thus granting a stable, high-quality vision. In order to optimize…
Recent research on automotive driving developed an efficient end-to-end learning mode that directly maps visual input to control commands. However, it models distinct driving variations in a single network, which increases learning…
This paper presents a reinforcement learning framework that incorporates a Contextual Reward Machine for task-oriented grasping. The Contextual Reward Machine reduces task complexity by decomposing grasping tasks into manageable sub-tasks.…
Developing sophisticated control architectures has endowed robots, particularly humanoid robots, with numerous capabilities. However, tuning these architectures remains a challenging and time-consuming task that requires expert…
Data augmentation methods are indispensable heuristics to boost the performance of deep neural networks, especially in image recognition tasks. Recently, several studies have shown that augmentation strategies found by search algorithms…
Visual prompting (VP) is an emerging parameter-efficient fine-tuning approach to adapting pre-trained vision models to solve various downstream image-classification tasks. However, there has hitherto been little systematic study of the…
Predicting a vehicle's trajectory is an essential ability for autonomous vehicles navigating through complex urban traffic scenes. Bird's-eye-view roadmap information provides valuable information for making trajectory predictions, and…
This paper presents a novel method for learning reward functions for robotic motions by harnessing the power of a CLIP-based model. Traditional reward function design often hinges on manual feature engineering, which can struggle to…
Many cameras implement auto-focus functionality. However, they typically require the user to manually identify the location to be focused on. While such an approach works for temporally-sparse autofocusing functionality (e.g., photo…
The rapid advancement of the automotive industry towards automated and semi-automated vehicles has rendered traditional methods of vehicle interaction, such as touch-based and voice command systems, inadequate for a widening range of…
Automating parts of the user interface (UI) design process has been a longstanding challenge. We present an automated technique for optimizing the layouts of mobile UIs. Our method uses gradient descent on a neural network model of task…
This study presents incremental correction methods for refining neural network parameters or control functions entering into a continuous-time dynamic system to achieve improved solution accuracy in satisfying the interim point constraints…
The main control tasks in autonomous vehicles are steering (lateral) and speed (longitudinal) control. PID controllers are widely used in the industry because of their simplicity and good performance, but they are difficult to tune and need…
Trained humans exhibit highly agile spatial skills, enabling them to operate vehicles with complex dynamics in demanding tasks and conditions. Prior work shows that humans achieve this performance by using strategies such as satisficing,…