相关论文: Encoding Motion Primitives for Autonomous Vehicles…

We show that it is possible to learn protocols that effect fast and efficient state-to-state transformations in simulation models of active particles. By encoding the protocol in the form of a neural network we use evolutionary methods to…

Decentralized methods to solve finite-sum minimization problems are important in many signal processing and machine learning tasks where the data is distributed over a network of nodes and raw data sharing is not permitted due to privacy…

The aim of this paper is to study the reward based policy exploration problem in a supervised learning approach and enable robots to form complex movement trajectories in challenging reward settings and search spaces. For this, the…

Autonomous vehicles must often contend with conflicting planning requirements, e.g., safety and comfort could be at odds with each other if avoiding a collision calls for slamming the brakes. To resolve such conflicts, assigning importance…

This paper presents a compact, matrix-based representation of neural networks in a self-contained tutorial fashion. Specifically, we develop neural networks as a composition of several vector-valued functions. Although neural networks are…

Visual servoing enables robotic systems to perform accurate closed-loop control, which is required in many applications. However, existing methods either require precise calibration of the robot kinematic model and cameras or use neural…

Interpreting natural-language commands to localize target objects is critical for autonomous driving (AD). Existing visual grounding (VG) methods for autonomous vehicles (AVs) typically struggle with ambiguous, context-dependent…

In this paper, we propose a generic algorithm to train machine learning-based subgrid parametrizations online, i.e., with \textit{a posteriori} loss functions, but for non-differentiable numerical solvers. The proposed approach leverages a…

Currently, usual approaches for fast robot control are largely reliant on solving online optimal control problems. Such methods are known to be computationally intensive and sensitive to model accuracy. On the other hand, animals plan…

We present a scalable and efficient neural waveform coding system for speech compression. We formulate the speech coding problem as an autoencoding task, where a convolutional neural network (CNN) performs encoding and decoding as a neural…

Visuomotor control (VMC) is an effective means of achieving basic manipulation tasks such as pushing or pick-and-place from raw images. Conditioning VMC on desired goal states is a promising way of achieving versatile skill primitives.…

Our research investigates the challenges Deep Reinforcement Learning (DRL) faces in complex, Partially Observable Markov Decision Processes (POMDP) such as autonomous driving (AD), and proposes a solution for vision-based navigation in…

This paper focuses on inverse reinforcement learning for autonomous navigation using distance and semantic category observations. The objective is to infer a cost function that explains demonstrated behavior while relying only on the…

In recent years, the field of autonomous driving has attracted increasingly significant public interest. Accurately forecasting the future behavior of various traffic participants is essential for the decision-making of Autonomous Vehicles…

Encoding frequency stability constraints in the operation problem is challenging due to its complex dynamics. Recently, data-driven approaches have been proposed to learn the stability criteria offline with the trained model embedded as a…

This study explores a novel approach to neural network pruning using evolutionary computation, focusing on simultaneously pruning the encoder and decoder of an autoencoder. We introduce two new mutation operators that use layer activations…

This paper presents an efficient deep learning solution for decoding motor movements from neural recordings in non-human primates. An Autoencoder Gated Recurrent Unit (AEGRU) model was adopted as the model architecture for this task. The…

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…

Mapping traversal costs in an environment and planning paths based on this map are important for autonomous navigation. We present a neurobotic navigation system that utilizes a Spiking Neural Network Wavefront Planner and E-prop learning…

Simulation offers a scalable and efficient alternative to real-world data collection for learning visuomotor robotic policies. However, the simulation-to-reality, or Sim2Real distribution shift -- introduced by employing simulation-trained…