相关论文: Monte-Carlo Tree Search for Efficient Visually Gui…

We present an active visual search model for finding objects in unknown environments. The proposed algorithm guides the robot towards the sought object using the relevant stimuli provided by the visual sensors. Existing search strategies…

We propose a novel method applicable in many scene understanding problems that adapts the Monte Carlo Tree Search (MCTS) algorithm, originally designed to learn to play games of high-state complexity. From a generated pool of proposals, our…

Multi-robot motion planning (MRMP) is the problem of finding collision-free paths for a set of robots in a continuous state space. The difficulty of MRMP increases with the number of robots and is exacerbated in environments with narrow…

This paper presents enhancements to the projection pursuit tree classifier and visual diagnostic methods for assessing their impact in high dimensions. The original algorithm uses linear combinations of variables in a tree structure where…

Rearrangement-based nonprehensile manipulation still remains as a challenging problem due to the high-dimensional problem space and the complex physical uncertainties it entails. We formulate this class of problems as a coupled problem of…

Large Vision-Language Models (VLMs), such as GPT-4, have achieved remarkable success across various fields. However, there are few studies on 3D indoor scene generation with VLMs. This paper considers this task as a planning problem subject…

Algorithms for robotic visual search can benefit from the use of visual attention methods in order to reduce computational costs. Here, we describe how three distinct mechanisms of visual attention can be integrated and productively used to…

This paper considers multi-goal motion planning in unstructured, obstacle-rich environments where a robot is required to reach multiple regions while avoiding collisions. The planned motions must also satisfy the differential constraints…

We introduce a planner designed to guide robot manipulators in stably placing objects within intricate scenes. Our proposed method reverses the traditional approach to object placement: our planner selects contact points first and then…

Most of existing correlation filter-based tracking approaches only estimate simple axis-aligned bounding boxes, and very few of them is capable of recovering the underlying similarity transformation. To tackle this challenging problem, in…

We present a self-learning approach that combines deep reinforcement learning and Monte Carlo tree search to solve the traveling salesman problem. The proposed approach has two advantages. First, it adopts deep reinforcement learning to…

Nowadays, a number of grasping algorithms have been proposed, that can predict a candidate of grasp poses, even for unseen objects. This enables a robotic manipulator to pick-and-place such objects. However, some of the predicted grasp…

Camera relocalization plays a vital role in many robotics and computer vision tasks, such as global localization, recovery from tracking failure, and loop closure detection. Recent random forests based methods directly predict 3D world…

For UAV-aided wireless systems, online path planning attracts much attention recently. To better adapt to the real-time dynamic environment, we, for the first time, propose a Monte Carlo Tree Search (MCTS)-based path planning scheme. In…

We present a scalable tree search planning algorithm for large multi-agent sequential decision problems that require dynamic collaboration. Teams of agents need to coordinate decisions in many domains, but naive approaches fail due to the…

This study demonstrates a method to locate an ideal perch location on a tree for vision-guided autonomous tree-perching drones. Various image processing algorithms, including those used for machine learning, image segmentation and binary…

Precise calibration is the basis for the vision-guided robot system to achieve high-precision operations. Systems with multiple eyes (cameras) and multiple hands (robots) are particularly sensitive to calibration errors, such as…

In this paper, we address a method that integrates reinforcement learning into the Monte Carlo tree search to boost online path planning under fully observable environments for automated parking tasks. Sampling-based planning methods under…

Visual perception is an effective way to obtain the spatial characteristics of wireless channels and to reduce the overhead for communications system. A critical problem for the visual assistance is that the communications system needs to…

Human environments contain numerous objects configured in a variety of arrangements. Our goal is to enable robots to repose previously unseen objects according to learned semantic relationships in novel environments. We break this problem…