相关论文: Learning and Generalizing Motion Primitives from D…

While Bayesian inference provides a principled framework for reasoning under uncertainty, its widespread adoption is limited by the intractability of exact posterior computation, necessitating the use of approximate inference. However,…

Robot kinematics data, despite being a high dimensional process, is highly correlated, especially when considering motions grouped in certain primitives. These almost linear correlations within primitives allow us to interpret the motions…

A fundamental aspect of racing is overtaking other race cars. Whereas previous research on autonomous racing has majorly focused on lap-time optimization, here, we propose a method to plan overtaking maneuvers in autonomous racing. A…

Trajectory generation has recently drawn growing interest in privacy-preserving urban mobility studies and location-based service applications. Although many studies have used deep learning or generative AI methods to model trajectories and…

We present a method for contraction-based feedback motion planning of locally incrementally exponentially stabilizable systems with unknown dynamics that provides probabilistic safety and reachability guarantees. Given a dynamics dataset,…

Accurately predicting future behaviors of surrounding vehicles is an essential capability for autonomous vehicles in order to plan safe and feasible trajectories. The behaviors of others, however, are full of uncertainties. Both rational…

Accurate human motion prediction with well-calibrated uncertainty is critical for safe human-robot collaboration (HRC), where robots must anticipate and react to human movements in real time. We propose a structured multitask variational…

Due to the increasing complexity of technical systems, accurate first principle models can often not be obtained. Supervised machine learning can mitigate this issue by inferring models from measurement data. Gaussian process regression is…

Semantically understanding complex drivers' encountering behavior, wherein two or multiple vehicles are spatially close to each other, does potentially benefit autonomous car's decision-making design. This paper presents a framework of…

Gaussian Processes (GPs) are a generic modelling tool for supervised learning. While they have been successfully applied on large datasets, their use in safety-critical applications is hindered by the lack of good performance guarantees. To…

This paper addresses the problem of efficiently achieving visual predictive control tasks. To this end, a memory of motion, containing a set of trajectories built off-line, is used for leveraging precomputation and dealing with difficult…

Human motion prediction is essential for the safe and smooth operation of mobile service robots and intelligent vehicles around people. Commonly used neural network-based approaches often require large amounts of complete trajectories to…

Intuitive human-machine interfaces may be developed using pattern classification to estimate executed human motions from electromyogram (EMG) signals generated during muscle contraction. The continual use of EMG-based interfaces gradually…

Imitation learning is an intuitive approach for teaching motion to robotic systems. Although previous studies have proposed various methods to model demonstrated movement primitives, one of the limitations of existing methods is that the…

Data-driven simulation of pedestrian dynamics is an incipient and promising approach for building reliable microscopic pedestrian models. We propose a methodology based on generalized regression neural networks, which does not have to deal…

Hikers and hillwalkers typically use the gradient in the direction of travel (walking slope) as the main variable in established methods for predicting walking time (via the walking speed) along a route. Research into fell-running has…

Established techniques for simulation and prediction with Gaussian process (GP) dynamics often implicitly make use of an independence assumption on successive function evaluations of the dynamics model. This can result in significant error…

Trajectory and intention prediction of traffic participants is an important task in automated driving and crucial for safe interaction with the environment. In this paper, we present a new approach to vehicle trajectory prediction based on…

Robot learning is often simplified to planar manipulation due to its data consumption. Then, a common approach is to use a fully-convolutional neural network to estimate the reward of grasp primitives. In this work, we extend this approach…

We present a graph-regularized learning of Gaussian Mixture Models (GMMs) in distributed settings with heterogeneous and limited local data. The method exploits a provided similarity graph to guide parameter sharing among nodes, avoiding…