相关论文: Planning Robot Motion using Deep Visual Prediction
Active perception in vision-based robotic manipulation aims to move the camera toward more informative observation viewpoints, thereby providing high-quality perceptual inputs for downstream tasks. Most existing active perception methods…
The navigation of robots in dynamic urban environments, requires elaborated anticipative strategies for the robot to avoid collisions with dynamic objects, like bicycles or pedestrians, and to be human aware. We have developed and analyzed…
The task of estimating the world model describing the dynamics of a real world process assumes immense importance for anticipating and preparing for future outcomes. For applications such as video surveillance, robotics applications,…
Recent advances in deep learning have significantly improved performance of video prediction. However, state-of-the-art methods still suffer from blurriness and distortions in their future predictions, especially when there are large…
We propose to take a novel approach to robot system design where each building block of a larger system is represented as a differentiable program, i.e. a deep neural network. This representation allows for integrating algorithmic planning…
We design a new approach that allows robot learning of new activities from unlabeled human example videos. Given videos of humans executing the same activity from a human's viewpoint (i.e., first-person videos), our objective is to make the…
A core challenge for an agent learning to interact with the world is to predict how its actions affect objects in its environment. Many existing methods for learning the dynamics of physical interactions require labeled object information.…
This paper proposes an algorithm for motion planning among dynamic agents using adaptive conformal prediction. We consider a deterministic control system and use trajectory predictors to predict the dynamic agents' future motion, which is…
The ability of predicting the future is important for intelligent systems, e.g. autonomous vehicles and robots to plan early and make decisions accordingly. Future scene parsing and optical flow estimation are two key tasks that help agents…
A particular type of assistive robots designed for physical interaction with objects could play an important role assisting with mobility and fall prevention in healthcare facilities. Autonomous mobile manipulation presents a hurdle prior…
This paper presents a novel layered framework that integrates visual foundation models to improve robot manipulation tasks and motion planning. The framework consists of five layers: Perception, Cognition, Planning, Execution, and Learning.…
Context plays a significant role in the generation of motion for dynamic agents in interactive environments. This work proposes a modular method that utilises a learned model of the environment for motion prediction. This modularity…
Planning safe robot motions in the presence of humans requires reliable forecasts of future human motion. However, simply predicting the most likely motion from prior interactions does not guarantee safety. Such forecasts fail to model the…
Self-driving vehicles plan around both static and dynamic objects, applying predictive models of behavior to estimate future locations of the objects in the environment. However, future behavior is inherently uncertain, and models of motion…
Learned frame prediction is a current problem of interest in computer vision and video compression. Although several deep network architectures have been proposed for learned frame prediction, to the best of our knowledge, there is no work…
While model-based deep reinforcement learning (RL) holds great promise for sample efficiency and generalization, learning an accurate dynamics model is often challenging and requires substantial interaction with the environment. A wide…
In this paper, we propose a novel Deep Reinforcement Learning approach to address the mapless navigation problem, in which the locomotion actions of a humanoid robot are taken online based on the knowledge encoded in learned models.…
Learning an accurate model of the environment is essential for model-based control tasks. Existing methods in robotic visuomotor control usually learn from data with heavily labelled actions, object entities or locations, which can be…
When humans see a scene, they can roughly imagine the forces applied to objects based on their experience and use them to handle the objects properly. This paper considers transferring this "force-visualization" ability to robots. We…
The simplicity of the visual servoing approach makes it an attractive option for tasks dealing with vision-based control of robots in many real-world applications. However, attaining precise alignment for unseen environments pose a…