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In environments with delayed observation, state augmentation by including actions within the delay window is adopted to retrieve Markovian property to enable reinforcement learning (RL). However, state-of-the-art (SOTA) RL techniques with…

Distance-based reward mechanisms in deep reinforcement learning (DRL) navigation systems suffer from critical safety limitations in dynamic environments, frequently resulting in collisions when visibility is restricted. We propose DRL-NSUO,…

In offline reinforcement learning, value overestimation caused by out-of-distribution (OOD) actions significantly limits policy performance. Recently, diffusion models have been leveraged for their strong distribution-matching capabilities,…

For autonomous vehicles, high-precision real-time localization is the guarantee of stable driving. Compared with the visual odometry (VO), the LiDAR odometry (LO) has the advantages of higher accuracy and better stability. However, 2D LO is…

Dynamical low-rank (DLR) approximation methods have previously been developed for time-dependent radiation transport problems. One crucial drawback of DLR is that it does not conserve important quantities of the calculation, which limits…

Perception of deformable linear objects (DLOs), such as cables, ropes, and wires, is the cornerstone for successful downstream manipulation. Although vision-based methods have been extensively explored, they remain highly vulnerable to…

Designing the topology of three-dimensional structures is a challenging problem due to its memory and time consumption. In this paper, we present a robust and efficient algorithm for solving large-scale 3D topology optimization problems.…

A new topology optimization method called the Proportional Topology Optimization (PTO) is presented. As a non-gradient method, PTO is simple to understand, easy to implement, and is also efficient and accurate at the same time. It is…

Unconstrained Online Linear Optimization (OLO) is a practical problem setting to study the training of machine learning models. Existing works proposed a number of potential-based algorithms, but in general the design of these potential…

Simultaneous state estimation and mapping is an essential capability for mobile robots working in dynamic urban environment. The majority of existing SLAM solutions heavily rely on a primarily static assumption. However, due to the presence…

Field robotics in perceptually-challenging environments require fast and accurate state estimation, but modern LiDAR sensors quickly overwhelm current odometry algorithms. To this end, this paper presents a lightweight frontend LiDAR…

Motivated by energy management for micro-grids, we study convex optimization problems with uncertainty in the objective function and sequential decision making. To solve these problems, we propose a new framework called ``Online…

We present the Super-Localized Orthogonal Decomposition (SLOD) method for the numerical homogenization of linear elasticity problems with multiscale microstructures modeled by a heterogeneous coefficient field without any periodicity or…

Trilevel learning, also called trilevel optimization (TLO), has been recognized as a powerful modelling tool for hierarchical decision process and widely applied in many machine learning applications, such as robust neural architecture…

Accurately and robustly estimating the state of deformable linear objects (DLOs), such as ropes and wires, is crucial for DLO manipulation and other applications. However, it remains a challenging open issue due to the high dimensionality…

Despite significant advances in long-context reasoning by large language models (LLMs), primarily through Online Reinforcement Learning (RL) methods, these approaches incur substantial computational costs and complexity. In contrast,…

In this research, we propose a deep learning based approach for speeding up the topology optimization methods. The problem we seek to solve is the layout problem. The main novelty of this work is to state the problem as an image…

With the continuous growth of mobile data and the unprecedented demand for computing power, resource-constrained edge devices cannot effectively meet the requirements of Internet of Things (IoT) applications and Deep Neural Network (DNN)…

This paper studies decentralized online convex optimization in a networked multi-agent system and proposes a novel algorithm, Learning-Augmented Decentralized Online optimization (LADO), for individual agents to select actions only based on…

We propose Deep Patch Visual Odometry (DPVO), a new deep learning system for monocular Visual Odometry (VO). DPVO uses a novel recurrent network architecture designed for tracking image patches across time. Recent approaches to VO have…