相关论文: Proposed Approximate Dynamic Programming for Pathf…

What do humans do when confronted with a common challenge: we know where we want to go but we are not yet sure the best way to get there, or even if we can. This is the problem posed to agents during spatial navigation and pathfinding, and…

We present a novel algorithm for dynamic routing with dedicated path protection which, as the presented simulation results suggest, can be efficient and exact. We present the algorithm in the setting of optical networks, but it should be…

We demonstrate that challenging shortest path problems can be solved via direct spline regression from a neural network, trained in an unsupervised manner (i.e. without requiring ground truth optimal paths for training). To achieve this, we…

For high level path planning, environments are usually modeled as distance graphs, and path planning problems are reduced to computing the shortest path in distance graphs. One major drawback of this modeling is the inability to model…

We consider the problem of planning a collision-free path of a robot in the presence of risk zones. The robot is allowed to travel in these zones but is penalized in a super-linear fashion for consecutive accumulative time spent there. We…

Approximate dynamic programming is a popular method for solving large Markov decision processes. This paper describes a new class of approximate dynamic programming (ADP) methods- distributionally robust ADP-that address the curse of…

In classic robust optimization, it is assumed that a set of possible parameter realizations, the uncertainty set, is modeled in a previous step and part of the input. As recent work has shown, finding the most suitable uncertainty set is in…

In the semantic segmentation of street scenes with neural networks, the reliability of predictions is of highest interest. The assessment of neural networks by means of uncertainties is a common ansatz to prevent safety issues. As in…

Reliable uncertainty estimation is crucial for perception systems in safe autonomous driving. Recently, many methods have been proposed to model uncertainties in deep learning based object detectors. However, the estimated probabilities are…

We propose a computational framework to quantify (measure) and to optimize the reliability of complex systems. The approach uses a graph representation of the system that is subject to random failures of its components (nodes and edges).…

Real-world environments are inherently uncertain, and to operate safely in these environments robots must be able to plan around this uncertainty. In the context of motion planning, we desire systems that can maintain an acceptable level of…

Quantifying the robustness of neural networks or verifying their safety properties against input uncertainties or adversarial attacks have become an important research area in learning-enabled systems. Most results concentrate around the…

In this paper, we address the problem of sampling-based motion planning under motion and measurement uncertainty with probabilistic guarantees. We generalize traditional sampling-based tree-based motion planning algorithms for deterministic…

Visual relocalization is the task of estimating the camera pose given an image it views. Absolute pose regression offers a solution to this task by training a neural network, directly regressing the camera pose from image features. While an…

Human motion is stochastic and ensuring safe robot navigation in a pedestrian-rich environment requires proactive decision-making. Past research relied on incorporating deterministic future states of surrounding pedestrians which can be…

Survival analysis studies and predicts the time of death, or other singular unrepeated events, based on historical data, while the true time of death for some instances is unknown. Survival trees enable the discovery of complex nonlinear…

This paper introduces a novel direct approach to system identification of dynamic networks with missing data based on maximum likelihood estimation. Dynamic networks generally present a singular probability density function, which poses a…

The most common approaches for solving multistage stochastic programming problems in the research literature have been to either use value functions ("dynamic programming") or scenario trees ("stochastic programming") to approximate the…

This paper proposes an algorithm capable of driving a system to follow a piecewise linear trajectory without prior knowledge of the system dynamics. Motivated by a critical failure scenario in which a system can experience an abrupt change…

Predicting human scanpaths when exploring panoramic videos is a challenging task due to the spherical geometry and the multimodality of the input, and the inherent uncertainty and diversity of the output. Most previous methods fail to give…