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The reliable prediction of the temporal behavior of complex systems is key in numerous scientific fields. This strong interest is however hindered by modeling issues: often, the governing equations describing the physics of the system under…

Predicting human mobility is crucial for urban planning, traffic control, and emergency response. Mobility behaviors can be categorized into individual and collective, and these behaviors are recorded by diverse mobility data, such as…

Spatio-temporal trajectories provide valuable information about movement and travel behavior, enabling various downstream tasks that in turn power real-world applications. Learning trajectory embeddings can improve task performance but may…

The primary goal of motion planning is to generate safe and efficient trajectories for vehicles. Traditionally, motion planning models are trained using imitation learning to mimic the behavior of human experts. However, these models often…

Over the years, the separate fields of motion planning, mapping, and human trajectory prediction have advanced considerably. However, the literature is still sparse in providing practical frameworks that enable mobile manipulators to…

Curriculum learning is a training method in which an agent is first trained on a curriculum of relatively simple tasks related to a target task in an effort to shorten the time required to train on the target task. Autonomous curriculum…

Simplicity is a critical inductive bias for designing data-driven controllers, especially when robustness is important. Despite the impressive results of deep reinforcement learning in complex control tasks, it is prone to capturing…

This study examines the problem of hopping robot navigation planning to achieve simultaneous goal-directed and environment exploration tasks. We consider a scenario in which the robot has mandatory goal-directed tasks defined using Linear…

Learning is the basis of both biological and artificial systems when it comes to mimicking intelligent behaviors. From the classical PPO (Proximal Policy Optimization), there is a series of deep reinforcement learning algorithms which are…

Individual-level human mobility prediction has emerged as a significant topic of research with applications in infectious disease monitoring, child, and elderly care. Existing studies predominantly focus on the microscopic aspects of human…

We introduce the problem of curriculum discovery and describe a curriculum learning framework capable of discovering effective curricula in a curriculum space based on prior knowledge about sample difficulty. Using annotation entropy and…

Multimodal reward models are crucial for aligning multimodal large language models with human preferences. Recent works have incorporated reasoning capabilities into these models, achieving promising results. However, training these models…

The ability of intelligent systems to predict human behaviors is crucial, particularly in fields such as autonomous vehicle navigation and social robotics. However, the complexity of human motion have prevented the development of a…

Trajectory prediction in a cluttered environment is key to many important robotics tasks such as autonomous navigation. However, there are an infinite number of possible trajectories to consider. To simplify the space of trajectories under…

High-speed legged locomotion struggles with stability and transfer losses at higher command velocities during deployment. One reason is that most curricula vary difficulty along single axis, for example increase the range of command…

Human mobility prediction is vital for urban planning, transportation optimization, and personalized services. However, the inherent randomness, non-uniform time intervals, and complex patterns of human mobility, compounded by the…

Training agents to operate under strict constraints during deployment, such as limited resource budgets or stringent safety requirements, presents significant challenges, especially when these constraints render the task complex. In this…

Learning skills by imitation is a promising concept for the intuitive teaching of robots. A common way to learn such skills is to learn a parametric model by maximizing the likelihood given the demonstrations. Yet, human demonstrations are…

In urban environments, parking has proven to be a significant source of congestion and inefficiency. In this study, we propose a methodology that offers a systematic solution to minimize the time spent by drivers in finding parking spaces.…

This paper explores the integration of incremental curriculum learning (ICL) with deep reinforcement learning (DRL) techniques to facilitate mobile robot navigation through task-based human instruction. By adopting a curriculum that mirrors…