相关论文: Learning to Prevent Monocular SLAM Failure using R…

Autonomous race driving poses a complex control challenge as vehicles must be operated at the edge of their handling limits to reduce lap times while respecting physical and safety constraints. This paper presents a novel reinforcement…

Reinforcement Learning (RL) is essentially a trial-and-error learning procedure which may cause unsafe behavior during the exploration-and-exploitation process. This hinders the application of RL to real-world control problems, especially…

In recent years, reinforcement learning (RL)-based methods for learning driving policies have gained increasing attention in the autonomous driving community and have achieved remarkable progress in various driving scenarios. However,…

Reinforcement Learning (RL) is a method for learning decision-making tasks that could enable robots to learn and adapt to their situation on-line. For an RL algorithm to be practical for robotic control tasks, it must learn in very few…

In this paper, we develop a safe decision-making method for self-driving cars in a multi-lane, single-agent setting. The proposed approach utilizes deep reinforcement learning (RL) to achieve a high-level policy for safe tactical…

Reinforcement learning (RL) in the real world necessitates the development of procedures that enable agents to explore without causing harm to themselves or others. The most successful solutions to the problem of safe RL leverage offline…

A major challenge of reinforcement learning (RL) in real-world applications is the variation between environments, tasks or clients. Meta-RL (MRL) addresses this issue by learning a meta-policy that adapts to new tasks. Standard MRL methods…

Object SLAM uses additional semantic information to detect and map objects in the scene, in order to improve the system's perception and map representation capabilities. Quadrics and cubes are often used to represent objects, but their…

Reinforcement learning (RL) commonly relies on scalar rewards with limited ability to express temporal, conditional, or safety-critical goals, and can lead to reward hacking. Temporal logic expressible via the more general class of…

Simultaneous localisation and mapping (SLAM) is the problem of autonomous robots to construct or update a map of an undetermined unstructured environment while simultaneously estimate the pose in it. The current trend towards self-driving…

(Visual) Simultaneous Localization and Mapping (SLAM) remains a fundamental challenge in enabling autonomous systems to navigate and understand large-scale environments. Traditional SLAM approaches struggle to balance efficiency and…

Reinforcement Learning (RL) methods have been proven successful in solving manipulation tasks autonomously. However, RL is still not widely adopted on real robotic systems because working with real hardware entails additional challenges,…

This paper presents a monocular vision system susceptible of being installed in unmanned small and medium-sized aerial vehicles built to perform missions in forest environments (e.g., search and rescue). The proposed system extends a…

We present WildGS-SLAM, a robust and efficient monocular RGB SLAM system designed to handle dynamic environments by leveraging uncertainty-aware geometric mapping. Unlike traditional SLAM systems, which assume static scenes, our approach…

Conventional trajectory planning approaches for autonomous racing are based on the sequential execution of prediction of the opposing vehicles and subsequent trajectory planning for the ego vehicle. If the opposing vehicles do not react to…

In recent years, visual SLAM has achieved great progress and development, but in complex scenes, especially rotating scenes, the error of mapping will increase significantly, and the slam system is easy to lose track. In this article, we…

Object SLAM introduces the concept of objects into Simultaneous Localization and Mapping (SLAM) and helps understand indoor scenes for mobile robots and object-level interactive applications. The state-of-art object SLAM systems face…

Topological strategies for navigation meaningfully reduce the space of possible actions available to a robot, allowing use of heuristic priors or learning to enable computationally efficient, intelligent planning. The challenges in…

Monocular SLAM has received a lot of attention due to its simple RGB inputs and the lifting of complex sensor constraints. However, existing monocular SLAM systems are designed for bounded scenes, restricting the applicability of SLAM…

Monocular depth estimation in the wild inherently predicts depth up to an unknown scale. To resolve scale ambiguity issue, we present a learning algorithm that leverages monocular simultaneous localization and mapping (SLAM) with…