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Learning diverse and high-fidelity traffic simulations from human driving demonstrations is crucial for autonomous driving evaluation. The recent next-token prediction (NTP) paradigm, widely adopted in large language models (LLMs), has been…

Mobile edge computing (MEC) is a promising technique to improve the computational capacity of smart devices (SDs) in Internet of Things (IoT). However, the performance of MEC is restricted due to its fixed location and limited service…

Mutual adaptation can significantly enhance overall task performance in human-robot co-transportation by integrating both the robot's and human's understanding of the environment. While human modeling helps capture humans' subjective…

Designing effective practice schedules for high-dimensional motor learning tasks remains a challenge, especially when skill states are unobservable and task performance may not reflect the true learning. We propose an automated curriculum…

Effective human-robot teaming is crucial for the practical deployment of robots in human workspaces. However, optimizing joint human-robot plans remains a challenge due to the difficulty of modeling individualized human capabilities and…

This paper proposes a task-specific trajectory optimization framework for human-robot collaboration, enabling adaptive motion planning based on human interaction dynamics. Unlike conventional approaches that rely on predefined desired…

Human motion prediction combines the tasks of trajectory forecasting and human pose prediction. For each of the two tasks, specialized models have been developed. Combining these models for holistic human motion prediction is non-trivial,…

Accurate human mobility prediction underpins many important applications across a variety of domains, including epidemic modelling, transport planning, and emergency responses. Due to the sparsity of mobility data and the stochastic nature…

Trajectory prediction is a challenging problem that requires considering interactions among multiple actors and the surrounding environment. While data-driven approaches have been used to address this complex problem, they suffer from…

Scalable multi-robot transition is essential for ubiquitous adoption of robots. As a step towards it, a computationally efficient decentralized algorithm for continuous-time trajectory optimization in multi-robot scenarios based upon model…

Whole-body loco-manipulation for quadruped robots with arms remains a challenging problem, particularly in achieving multi-task control. To address this, we propose MLM, a reinforcement learning framework driven by both real-world and…

Generative models have shown promising results in capturing human mobility characteristics and generating synthetic trajectories. However, it remains challenging to ensure that the generated geospatial mobility data is semantically…

This paper presents a motion planning and risk analysis framework for enhancing human-robot collaboration with a Multi-Rotor Aerial Vehicle. The proposed method employs Signal Temporal Logic to encode key mission objectives, including…

The complex nonlinear dynamics of hydraulic excavators, such as time delays and control coupling, pose significant challenges to achieving high-precision trajectory tracking. Traditional control methods often fall short in such applications…

We present a novel method for reliable robot navigation in uneven outdoor terrains. Our approach employs a novel fully-trained Deep Reinforcement Learning (DRL) network that uses elevation maps of the environment, robot pose, and goal as…

Contextual policy search allows adapting robotic movement primitives to different situations. For instance, a locomotion primitive might be adapted to different terrain inclinations or desired walking speeds. Such an adaptation is often…

For specialized domains, there is often not a wealth of data with which to train large machine learning models. In such limited data / compute settings, various methods exist aiming to $\textit{do more with less}$, such as finetuning from a…

The navigation of robots in dynamic urban environments, requires elaborated anticipative strategies for the robot to avoid collisions with dynamic objects, like bicycles or pedestrians, and to be human aware. We have developed and analyzed…

Navigating robots safely and efficiently in crowded and complex environments remains a significant challenge. However, due to the dynamic and intricate nature of these settings, planning efficient and collision-free paths for robots to…

The performance of tracking algorithms strongly depends on the chosen model assumptions regarding the target dynamics. If there is a strong mismatch between the chosen model and the true object motion, the track quality may be poor or the…