相关论文: Long Range Neural Navigation Policies for the Real…

Robotic learning for navigation in unfamiliar environments needs to provide policies for both task-oriented navigation (i.e., reaching a goal that the robot has located), and task-agnostic exploration (i.e., searching for a goal in a novel…

Automating configuration is the key path to achieving zero-touch network management in ever-complicating mobile networks. Deep learning techniques show great potential to automatically learn and tackle high-dimensional networking problems.…

Offline reinforcement learning (RL) aims at learning a good policy from a batch of collected data, without extra interactions with the environment during training. However, current offline RL benchmarks commonly have a large reality gap,…

In this paper, emerging deep learning techniques are leveraged to deal with Mars visual navigation problem. Specifically, to achieve precise landing and autonomous navigation, a novel deep neural network architecture with double branches…

Modular robots can be rearranged into a new design, perhaps each day, to handle a wide variety of tasks by forming a customized robot for each new task. However, reconfiguring just the mechanism is not sufficient: each design also requires…

Recent advances in learning-based robot manipulation have produced policies with remarkable capabilities. Yet, reliability at deployment remains a fundamental barrier to real-world use, where distribution shift, compounding errors, and…

We exploit the complementary strengths of vision and proprioception to develop a point-goal navigation system for legged robots, called VP-Nav. Legged systems are capable of traversing more complex terrain than wheeled robots, but to fully…

Traditional indoor robot navigation methods provide a reliable solution when adapted to constrained scenarios, but lack flexibility or require manual re-tuning when deployed in more complex settings. In contrast, learning-based approaches…

This paper addresses the problem of legged locomotion in non-flat terrain. As legged robots such as quadrupeds are to be deployed in terrains with geometries which are difficult to model and predict, the need arises to equip them with the…

Autonomously navigating a robot in everyday crowded spaces requires solving complex perception and planning challenges. When using only monocular image sensor data as input, classical two-dimensional planning approaches cannot be used.…

This paper introduces a new method for safety-aware robot learning, focusing on repairing policies using predictive models. Our method combines behavioral cloning with neural network repair in a two-step supervised learning framework. It…

Control policy learning for modular robot locomotion has previously been limited to proprioceptive feedback and flat terrain. This paper develops policies for modular systems with vision traversing more challenging environments. These…

Equipping active colloidal robots with intelligence such that they can efficiently navigate in unknown complex environments could dramatically impact their use in emerging applications like precision surgery and targeted drug delivery. Here…

Robotic systems are nowadays capable of solving complex navigation tasks. However, their capabilities are limited to the knowledge of the designer and consequently lack generalizability to initially unconsidered situations. This makes deep…

Representations are crucial for a robot to learn effective navigation policies. Recent work has shown that mid-level perceptual abstractions, such as depth estimates or 2D semantic segmentation, lead to more effective policies when provided…

When the navigational environment is known, it can be represented as a graph where landmarks are nodes, the robot behaviors that move from node to node are edges, and the route is a set of behavioral instructions. The route path from source…

In this paper we present the first safe system for full control of self-driving vehicles trained from human demonstrations and deployed in challenging, real-world, urban environments. Current industry-standard solutions use rule-based…

Autonomous navigation based on precise localization has been widely developed in both academic research and practical applications. The high demand for localization accuracy has been essential for safe robot planing and navigation while it…

While deep reinforcement learning techniques have recently produced considerable achievements on many decision-making problems, their use in robotics has largely been limited to simulated worlds or restricted motions, since unconstrained…

Legged robots navigating crowded scenes and complex terrains in the real world are required to execute dynamic leg movements while processing visual input for obstacle avoidance and path planning. We show that a quadruped robot can acquire…