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

Monocular Re-Localization (MRL) is a critical component in autonomous applications, estimating 6 degree-of-freedom ego poses w.r.t. the scene map based on monocular images. In recent decades, significant progress has been made in the…

Recently,3DGaussianSplattinghasshowngreatpotentialin visual Simultaneous Localization And Mapping (SLAM). Existing methods have achieved encouraging results on RGB-D SLAM, but studies of the monocular case are still scarce. Moreover, they…

Ensuring safe decision-making in autonomous vehicles remains a fundamental challenge despite rapid advances in end-to-end learning approaches. Traditional reinforcement learning (RL) methods rely on manually engineered rewards or sparse…

Reinforcement learning (RL), with its ability to explore and optimize policies in complex, dynamic decision-making tasks, has emerged as a promising approach to addressing motion planning (MoP) challenges in autonomous driving (AD). Despite…

Reinforcement learning (RL) enables agents to learn optimal behaviors through interaction with their environment and has been increasingly deployed in safety-critical applications, including autonomous driving. Despite its promise, RL is…

Autonomous drifting is a complex and crucial maneuver for safety-critical scenarios like slippery roads and emergency collision avoidance, requiring precise motion planning and control. Traditional motion planning methods often struggle…

We present SLAM-Former, a novel neural approach that integrates full SLAM capabilities into a single transformer. Similar to traditional SLAM systems, SLAM-Former comprises both a frontend and a backend that operate in tandem. The frontend…

The assumption of scene rigidity is typical in SLAM algorithms. Such a strong assumption limits the use of most visual SLAM systems in populated real-world environments, which are the target of several relevant applications like service…

Deep reinforcement learning has achieved great success in laser-based collision avoidance works because the laser can sense accurate depth information without too much redundant data, which can maintain the robustness of the algorithm when…

Collision avoidance is key for mobile robots and agents to operate safely in the real world. In this work we present SAFER, an efficient and effective collision avoidance system that is able to improve safety by correcting the control…

Most Simultaneous localisation and mapping (SLAM) systems have traditionally assumed a static world, which does not align with real-world scenarios. To enable robots to safely navigate and plan in dynamic environments, it is essential to…

Self-Supervised Learning (SSL) is a reliable learning mechanism in which a robot uses an original, trusted sensor cue for training to recognize an additional, complementary sensor cue. We study for the first time in SSL how a robot's…

A prominent approach to visual Reinforcement Learning (RL) is to learn an internal state representation using self-supervised methods, which has the potential benefit of improved sample-efficiency and generalization through additional…

To mitigate the limitation that the classical reinforcement learning (RL) framework heavily relies on identical training and test environments, Distributionally Robust RL (DRRL) has been proposed to enhance performance across a range of…

In standard reinforcement learning (RL), a learning agent seeks to optimize the overall reward. However, many key aspects of a desired behavior are more naturally expressed as constraints. For instance, the designer may want to limit the…

Reward design remains a critical bottleneck in visual reinforcement learning (RL) for robotic manipulation. In simulated environments, rewards are conventionally designed based on the distance to a target position. However, such precise…

Model-based reinforcement learning (MBRL) is recognized with the potential to be significantly more sample-efficient than model-free RL. How an accurate model can be developed automatically and efficiently from raw sensory inputs (such as…

Monocular cameras coupled with inertial measurements generally give high performance visual inertial odometry. However, drift can be significant with long trajectories, especially when the environment is visually challenging. In this paper,…

In this paper, we propose a reinforcement learning-based algorithm for trajectory optimization for constrained dynamical systems. This problem is motivated by the fact that for most robotic systems, the dynamics may not always be known.…

We present a system that allows for accurate, fast, and robust estimation of camera parameters and depth maps from casual monocular videos of dynamic scenes. Most conventional structure from motion and monocular SLAM techniques assume input…