相关论文: Modeling a Sensor to Improve its Efficacy

Bayesian inference provides a rigorous framework to encapsulate our knowledge and uncertainty regarding various physical quantities in a well-defined and self-contained manner. Utilising modern tools, such Bayesian models can be constructed…

This report considers the class of applications of sensor networks in which each sensor node makes measurements, such as temperature or humidity, at the precise location of the node. Such spot-sensing applications approximate the physical…

This paper concerns realizing highly efficient information-theoretic robot exploration with desired performance in complex scenes. We build a continuous lightweight inference model to predict the mutual information (MI) and the associated…

Sample efficient learning of manipulation skills poses a major challenge in robotics. While recent approaches demonstrate impressive advances in the type of task that can be addressed and the sensing modalities that can be incorporated,…

We introduce an approach to building a custom model from ready-made self-supervised models via their associating instead of training and fine-tuning. We demonstrate it with an example of a humanoid robot looking at the mirror and learning…

Reliable visual perception under low illumination remains a core challenge for autonomous robotic systems, where degraded image quality directly compromises navigation, inspection, and various operations. A recent training free approach…

In reinforcement learning (RL), an autonomous agent learns to perform complex tasks by maximizing an exogenous reward signal while interacting with its environment. In real-world applications, test conditions may differ substantially from…

Robust environment perception is essential for decision-making on robots operating in complex domains. Principled treatment of uncertainty sources in a robot's observation model is necessary for accurate mapping and object detection. This…

We propose a general framework for creating parameterized control schemes for decentralized multi-robot systems. A variety of tasks can be seen in the decentralized multi-robot literature, each with many possible control schemes. For…

Robotic grasping in highly noisy environments presents complex challenges, especially with limited prior knowledge about the scene. In particular, identifying good grasping poses with Bayesian inference becomes difficult due to two reasons:…

Combining model-based and model-free learning systems has been shown to improve the sample efficiency of learning to perform complex robotic tasks. However, dual-system approaches fail to consider the reliability of the learned model when…

Improving the understanding of signal and background distributions in signal-region is a valuable key to enhance any analysis in collider physics. This is usually a difficult task because -- among others -- signal and backgrounds are hard…

Reinforcement learning has been demonstrated as a flexible and effective approach for learning a range of continuous control tasks, such as those used by robots to manipulate objects in their environment. But in robotics particularly,…

Bayesian optimal sensor placement, in its full generality, seeks to maximize the mutual information between uncertain model parameters and the predicted data to be collected from the sensors for the purpose of performing Bayesian inference.…

As the complexity of control systems increases, the need for systematic methods to guarantee their efficacy grows as well. However, direct testing of these systems is oftentimes costly, difficult, or impractical. As a result, the test and…

Bayesian inference has many advantages in robotic motion planning over four perspectives: The uncertainty quantification of the policy, safety (risk-aware) and optimum guarantees of robot motions, data-efficiency in training of…

We present a method for the unattended gray-box identification of sensor models commonly used by localization algorithms in the field of robotics. The objective is to determine the most likely sensor model for a time series of unknown…

The advancement of simulation-assisted robot programming, automation of high-tolerance assembly operations, and improvement of real-world performance engender a need for positionally accurate robots. Despite tight machining tolerances, good…

Data-efficient learning algorithms are essential in many practical applications for which data collection is expensive, e.g., for the optimal deployment of wireless systems in unknown propagation scenarios. Meta-learning can address this…

Spatial documentation is exponentially increasing given the availability of Big IoT Data, enabled by the devices miniaturization and data storage capacity. Bayesian spatial statistics is a useful statistical tool to determine the dependence…