相关论文: Learning End-to-end Multimodal Sensor Policies for…

Autonomous edge computing in robotics, smart cities, and autonomous vehicles relies on the seamless integration of sensing, processing, and actuation for real-time decision-making in dynamic environments. At its core is the…

Autoregressive Transformers are increasingly being deployed as end-to-end robot and autonomous vehicle (AV) policy architectures, owing to their scalability and potential to leverage internet-scale pretraining for generalization.…

Multimodal learning has been lacking principled ways of combining information from different modalities and learning a low-dimensional manifold of meaningful representations. We study multimodal learning and sensor fusion from a latent…

This paper presents a reinforcement learning approach to synthesizing task-driven control policies for robotic systems equipped with rich sensory modalities (e.g., vision or depth). Standard reinforcement learning algorithms typically…

The common approach for local navigation on challenging environments with legged robots requires path planning, path following and locomotion, which usually requires a locomotion control policy that accurately tracks a commanded velocity.…

Learning controllers for bipedal robots is a challenging problem, often requiring expert knowledge and extensive tuning of parameters that vary in different situations. Recently, deep reinforcement learning has shown promise at…

Reinforcement learning has steadily improved and outperform human in lots of traditional games since the resurgence of deep neural network. However, these success is not easy to be copied to autonomous driving because the state spaces in…

Tracking multiple targets in dynamic environments using distributed sensor networks is a fundamental problem in statistical signal processing. In such scenarios, the network of mobile sensors must coordinate their actions to accurately…

This paper introduces a machine learning based collaborative multi-band spectrum sensing policy for cognitive radios. The proposed sensing policy guides secondary users to focus the search of unused radio spectrum to those frequencies that…

Autonomous UAV racing has recently emerged as an interesting research problem. The dream is to beat humans in this new fast-paced sport. A common approach is to learn an end-to-end policy that directly predicts controls from raw images by…

Autonomous driving holds great promise in addressing traffic safety concerns by leveraging artificial intelligence and sensor technology. Multi-Object Tracking plays a critical role in ensuring safer and more efficient navigation through…

Learning strategic robot behavior -- like that required in pursuit-evasion interactions -- under real-world constraints is extremely challenging. It requires exploiting the dynamics of the interaction, and planning through both physical…

This paper proposes a novel model-based policy gradient algorithm for tracking dynamic targets using a mobile robot, equipped with an onboard sensor with limited field of view. The task is to obtain a continuous control policy for the…

In the field of locomotion task of quadruped robots, Blind Policy and Perceptive Policy each have their own advantages and limitations. The Blind Policy relies on preset sensor information and algorithms, suitable for known and structured…

Robot behavior policies trained via imitation learning are prone to failure under conditions that deviate from their training data. Thus, algorithms that monitor learned policies at test time and provide early warnings of failure are…

Distilling humanoid locomotion control from offline datasets into deployable policies remains a challenge, as existing methods rely on privileged full-body states that require complex and often unreliable state estimation. We present…

Dialogue policy optimization often obtains feedback until task completion in task-oriented dialogue systems. This is insufficient for training intermediate dialogue turns since supervision signals (or rewards) are only provided at the end…

End-to-end autonomous driving is a fully differentiable machine learning system that takes raw sensor input data and other metadata as prior information and directly outputs the ego vehicle's control signals or planned trajectories. This…

End-to-End driving is a promising paradigm as it circumvents the drawbacks associated with modular systems, such as their overwhelming complexity and propensity for error propagation. Autonomous driving transcends conventional traffic…

This paper proposes a method for learning continuous control policies for active landmark localization and exploration using an information-theoretic cost. We consider a mobile robot detecting landmarks within a limited sensing range, and…