相关论文: Differentiable Algorithm Networks for Composable R…

Mobile robots rely on maps to navigate through an environment. In the absence of any map, the robots must build the map online from partial observations as they move in the environment. Traditional methods build a map using only direct…

In this paper, the problem of drone-assisted collaborative learning is considered. In this scenario, swarm of intelligent wireless devices train a shared neural network (NN) model with the help of a drone. Using its sensors, each device…

The wireless network is undergoing a trend from "onnection of things" to "connection of intelligence". With data spread over the communication networks and computing capability enhanced on the devices, distributed learning becomes a hot…

We develop a framework for combining differentiable programming languages with neural networks. Using this framework we create end-to-end trainable systems that learn to write interpretable algorithms with perceptual components. We explore…

Although distributed machine learning has opened up many new and exciting research frontiers, fragmentation of models and data across different machines, nodes, and sites still results in considerable communication overhead, impeding…

Automatic Modulation Classification (AMC) plays a significant role in modern cognitive and intelligent radio systems, where accurate identification of modulation is crucial for adaptive communication. The presence of heterogeneous wireless…

To survive in the dynamically-evolving world, we accumulate knowledge and improve our skills based on experience. In the process, gaining new knowledge does not disrupt our vigilance to external stimuli. In other words, our learning process…

This paper proposes a new unsupervised domain adaptation approach called Collaborative and Adversarial Network (CAN), which uses the domain-collaborative and domain-adversarial learning strategy for training the neural network. The…

Semantic segmentation and lane detection are crucial tasks in autonomous driving systems. Conventional approaches predominantly rely on deep neural networks (DNNs), which incur high energy costs due to extensive analog-to-digital…

Navigating a nonholonomic robot in a cluttered, unknown environment requires accurate perception and precise motion control for real-time collision avoidance. This paper presents NeuPAN: a real-time, highly accurate, map-free,…

This paper proposes a cooperative environmental learning algorithm working in a fully distributed manner. A multi-robot system is more effective for exploration tasks than a single robot, but it involves the following challenges: 1) online…

A key challenge in complex visuomotor control is learning abstract representations that are effective for specifying goals, planning, and generalization. To this end, we introduce universal planning networks (UPN). UPNs embed differentiable…

Shared autonomy provides an effective framework for human-robot collaboration that takes advantage of the complementary strengths of humans and robots to achieve common goals. Many existing approaches to shared autonomy make restrictive…

Multi-task learning (MTL) is a common paradigm that seeks to improve the generalization performance of task learning by training related tasks simultaneously. However, it is still a challenging problem to search the flexible and accurate…

This paper introduces a network architecture, called dynoNet, utilizing linear dynamical operators as elementary building blocks. Owing to the dynamical nature of these blocks, dynoNet networks are tailored for sequence modeling and system…

Sociability is essential for modern robots to increase their acceptability in human environments. Traditional techniques use manually engineered utility functions inspired by observing pedestrian behaviors to achieve social navigation.…

Simultaneous localization and mapping (SLAM) remains challenging for a number of downstream applications, such as visual robot navigation, because of rapid turns, featureless walls, and poor camera quality. We introduce the Differentiable…

Training end-to-end deep robot policies requires a lot of domain-, task-, and hardware-specific data, which is often costly to provide. In this work, we propose to tackle this issue by employing a deep neural network with a modular…

This paper presents the framework for a novel Unified Socially-Aware Navigation (USAN) architecture and explains its need in Socially Assistive Robotics (SAR) applications. Our approach emphasizes interpersonal distance and how spatial…

Imagine experiencing a crash as the passenger of an autonomous vehicle. Wouldn't you want to know why it happened? Current end-to-end optimizable deep neural networks (DNNs) in 3D detection, multi-object tracking, and motion forecasting…