相关论文: Embedded Neural Networks for Robot Autonomy

To plan safe maneuvers and act with foresight, autonomous vehicles must be capable of accurately predicting the uncertain future. In the context of autonomous driving, deep neural networks have been successfully applied to learning…

In autonomous embedded systems, it is often vital to reduce the amount of actions taken in the real world and energy required to learn a policy. Training reinforcement learning agents from high dimensional image representations can be very…

The use of pretrained embeddings has become widespread in modern e-commerce machine learning (ML) systems. In practice, however, we have encountered several key issues when using pretrained embedding in a real-world production system, many…

Many analyses in particle and nuclear physics use simulations to infer fundamental, effective, or phenomenological parameters of the underlying physics models. When the inference is performed with unfolded cross sections, the observables…

Deep reinforcement learning (RL) algorithms can learn complex robotic skills from raw sensory inputs, but have yet to achieve the kind of broad generalization and applicability demonstrated by deep learning methods in supervised domains. We…

Learning-based model predictive control has emerged as a powerful approach for handling complex dynamics in mechatronic systems, enabling data-driven performance improvements while respecting safety constraints. However, when computational…

The development of artificial intelligence (AI) and robotics are both based on the tenet of "science and technology are people-oriented", and both need to achieve efficient communication with the human brain. Based on multi-disciplinary…

Deep neural networks have become ubiquitous for applications related to visual recognition and language understanding tasks. However, it is often prohibitive to use typical neural networks on devices like mobile phones or smart watches…

Interconnected road lanes are a central concept for navigating urban roads. Currently, most autonomous vehicles rely on preconstructed lane maps as designing an algorithmic model is difficult. However, the generation and maintenance of such…

Operating directly from raw high dimensional sensory inputs like images is still a challenge for robotic control. Recently, Reinforcement Learning methods have been proposed to solve specific tasks end-to-end, from pixels to torques.…

How can a delivery robot navigate reliably to a destination in a new office building, with minimal prior information? To tackle this challenge, this paper introduces a two-level hierarchical approach, which integrates model-free deep…

Reinforcement learning is considered to be a strong AI paradigm which can be used to teach machines through interaction with the environment and learning from their mistakes. Despite its perceived utility, it has not yet been successfully…

Autonomous service robots require computational frameworks that allow them to generalize knowledge to new situations in a manner that models uncertainty while scaling to real-world problem sizes. The Robot Common Sense Embedding (RoboCSE)…

In this work we explore the application of deep neural networks to the optimization of atomic layer deposition processes based on thickness values obtained at different points of an ALD reactor. We introduce a dataset designed to train…

Many phenomena in physics, including light, water waves, and sound, are described by wave equations. Given their coefficients, wave equations can be solved to high accuracy, but the presence of the wavelength scale often leads to large…

When deploying deep learning models to a device, it is traditionally assumed that available computational resources (compute, memory, and power) remain static. However, real-world computing systems do not always provide stable resource…

Forward and inverse kinematics models are fundamental to robot arms, serving as the basis for the robot arm's operational tasks. However, in model learning of robot arms, especially in the presence of redundant degrees of freedom, inverse…

Robots are often built from standardized assemblies, (e.g. arms, legs, or fingers), but each robot must be trained from scratch to control all the actuators of all the parts together. In this paper we demonstrate a new approach that takes a…

Deep neural network has recently shown very promising applications in different research directions and attracted the industry attention as well. Although the idea was introduced in the past but just recently the main limitation of using…

We present techniques for automatically inferring formal properties of feed-forward neural networks. We observe that a significant part (if not all) of the logic of feed forward networks is captured in the activation status ('on' or 'off')…