相关论文: Incorporating Human Domain Knowledge into Large Sc…

General-purpose planning algorithms for automated driving combine mission, behavior, and local motion planning. Such planning algorithms map features of the environment and driving kinematics into complex reward functions. To achieve this,…

Predicting the motion of a mobile agent from a third-person perspective is an important component for many robotics applications, such as autonomous navigation and tracking. With accurate motion prediction of other agents, robots can plan…

Running LLMs with extended reasoning on every problem is expensive, but determining which inputs actually require additional compute remains challenging. We investigate whether their own likelihood of success is recoverable from their…

Pre-training is prevalent in nowadays deep learning to improve the learned model's performance. However, in the literature on federated learning (FL), neural networks are mostly initialized with random weights. These attract our interest in…

The burgeoning field of autonomous driving necessitates the seamless integration of autonomous vehicles (AVs) with human-driven vehicles, calling for more predictable AV behavior and enhanced interaction with human drivers. Human-like…

In complex real-world tasks such as robotic manipulation and autonomous driving, collecting expert demonstrations is often more straightforward than specifying precise learning objectives and task descriptions. Learning from expert data can…

Traditional methods for motion estimation estimate the motion field F between a pair of images as the one that minimizes a predesigned cost function. In this paper, we propose a direct method and train a Convolutional Neural Network (CNN)…

Lane change decision-making for autonomous vehicles is a complex but high-reward behavior. In this paper, we propose a hybrid input based deep reinforcement learning (DRL) algorithm, which realizes abstract lane change decisions and lane…

Reinforcement Learning (RL)-based control system has received considerable attention in recent decades. However, in many real-world problems, such as Batch Process Control, the environment is uncertain, which requires expensive interaction…

Reinforcement learning (RL) has proven to be well-performed and general-purpose in the inventory control (IC). However, further improvement of RL algorithms in the IC domain is impeded due to two limitations of online experience. First,…

In recent years, domains such as natural language processing and image recognition have popularized the paradigm of using large datasets to pretrain representations that can be effectively transferred to downstream tasks. In this work we…

Personalized motion planning holds significant importance within urban automated driving, catering to the unique requirements of individual users. Nevertheless, prior endeavors have frequently encountered difficulties in simultaneously…

How well do reward functions learned with inverse reinforcement learning (IRL) generalize? We illustrate that state-of-the-art IRL algorithms, which maximize a maximum-entropy objective, learn rewards that overfit to the demonstrations.…

State of the art quadrupedal locomotion approaches integrate Model Predictive Control (MPC) with Reinforcement Learning (RL), enabling complex motion capabilities with planning and terrain adaptive behaviors. However, they often face…

This paper presents a novel Perceptual Motor Learning (PML) framework integrated with Active Inference (AIF) to enhance lateral control in Highly Automated Vehicles (HAVs). PML, inspired by human motor learning, emphasizes the seamless…

Intelligent agents should have the ability to leverage knowledge from previously learned tasks in order to learn new ones quickly and efficiently. Meta-learning approaches have emerged as a popular solution to achieve this. However,…

Solving complex real-world control tasks often takes multiple tries: if we fail at first, we reflect on what went wrong, and change our strategy accordingly to avoid making the same mistake. In robotics, Vision-Language-Action models (VLAs)…

Human activity recognition using deep learning techniques has become increasing popular because of its high effectivity with recognizing complex tasks, as well as being relatively low in costs compared to more traditional machine learning…

Although deep RL models have shown a great potential for solving various types of tasks with minimal supervision, several key challenges remain in terms of learning from limited experience, adapting to environmental changes, and…

To develop driving automation technologies for human, a human-centered methodology should be adopted for ensured safety and satisfactory user experience. Automated lane change decision in dense highway traffic is challenging, especially…