相关论文: A Probabilistic Representation for Dynamic Movemen…

A key component of model-based reinforcement learning (RL) is a dynamics model that predicts the outcomes of actions. Errors in this predictive model can degrade the performance of model-based controllers, and complex Markov decision…

Motivated by recent results relating synchronizing DFAs and primitive sets, we tackle the synchronization process and the related longstanding \v{C}ern\'{y} conjecture by studying the primitivity phenomenon for sets of nonnegative matrices…

This work adds on to the on-going efforts to provide more autonomy to space robots. Here the concept of programming by demonstration or imitation learning is used for trajectory planning of manipulators mounted on small spacecraft. For…

We can use driving data collected over a long period of time to extract rich information about how vehicles behave in different areas of the roads. In this paper, we introduce the concept of directional primitives, which is a representation…

Imitation learning has shown great potential for enabling robots to acquire complex manipulation behaviors. However, these algorithms suffer from high sample complexity in long-horizon tasks, where compounding errors accumulate over the…

In this work, the problem of human-robot collaborative object transfer to unknown target poses is addressed. The desired pattern of the end-effector pose trajectory to a known target pose is encoded using DMPs (Dynamic Movement Primitives).…

Maximum likelihood constraint inference is a powerful technique for identifying unmodeled constraints that affect the behavior of a demonstrator acting under a known objective function. However, it was originally formulated only for…

3D human motion forecasting aims to enable autonomous applications. Estimating uncertainty for each prediction (i.e., confidence based on probability density or quantile) is essential for safety-critical contexts like human-robot…

In audio signal processing, probabilistic time-frequency models have many benefits over their non-probabilistic counterparts. They adapt to the incoming signal, quantify uncertainty, and measure correlation between the signal's amplitude…

Imitation Learning (IL) is a powerful technique for intuitive robotic programming. However, ensuring the reliability of learned behaviors remains a challenge. In the context of reaching motions, a robot should consistently reach its goal,…

How can a robot safely navigate around people with complex motion patterns? Deep Reinforcement Learning (DRL) in simulation holds some promise, but much prior work relies on simulators that fail to capture the nuances of real human motion.…

We give a short overview of recent results on a specific class of Markov process: the Piecewise Deterministic Markov Processes (PDMPs). We first recall the definition of these processes and give some general results. On more specific cases…

We propose Parallelised Diffeomorphic Sampling-based Motion Planning (PDMP). PDMP is a novel parallelised framework that uses bijective and differentiable mappings, or diffeomorphisms, to transform sampling distributions of sampling-based…

This paper proposes a primal-dual framework to learn a stable estimator for linear constrained estimation problems leveraging the moving horizon approach. To avoid the online computational burden in most existing methods, we learn a…

Early action recognition (action prediction) from limited preliminary observations plays a critical role for streaming vision systems that demand real-time inference, as video actions often possess elongated temporal spans which cause…

In various practical situations, we encounter data from stochastic processes which can be efficiently modelled by an appropriate parametric model for subsequent statistical analyses. Unfortunately, the most common estimation and inference…

We present a representation learning algorithm that learns a low-dimensional latent dynamical system from high-dimensional \textit{sequential} raw data, e.g., video. The framework builds upon recent advances in amortized inference methods…

We propose a novel framework for enhancing robotic adaptability and learning efficiency, which integrates unsupervised trajectory segmentation with adaptive probabilistic movement primitives (ProMPs). By employing a cutting-edge deep…

We consider Incentive Decision Processes, where a principal seeks to reduce its costs due to another agent's behavior, by offering incentives to the agent for alternate behavior. We focus on the case where a principal interacts with a…

We present differentiable predictive control (DPC), a method for learning constrained neural control policies for linear systems with probabilistic performance guarantees. We employ automatic differentiation to obtain direct policy…