相关论文: Generating Robust Supervision for Learning-Based V…

Neural network (NN) dynamics models and control policies achieve strong performance in robotics, but providing sound guarantees under uncertainty remains difficult, especially for closed-loop NN systems. Existing reachability tools provide…

This study addresses the challenge of social bipedal navigation in a dynamic, human-crowded environment, a research area largely underexplored in legged robot navigation. We present a zonotope-based framework that couples prediction and…

Convolutional neural networks (CNNs) have become an established part of numerous safety-critical computer vision applications, including human robot interactions and automated driving. Real-world implementations will need to guarantee their…

Navigation in unknown, chaotic environments continues to present a significant challenge for the robotics community. Lighting changes, self-similar textures, motion blur, and moving objects are all considerable stumbling blocks for…

This paper proposes an algorithm capable of driving a system to follow a piecewise linear trajectory without prior knowledge of the system dynamics. Motivated by a critical failure scenario in which a system can experience an abrupt change…

This paper aims to investigate direct imitation learning from human drivers for the task of lane keeping assistance in highway and country roads using grayscale images from a single front view camera. The employed method utilizes…

This paper presents a novel approach to multi-robot collision avoidance that integrates global path planning with local navigation strategies, utilizing attentive graph neural networks to manage dynamic interactions among agents. We…

The immense success of deep learning based methods in computer vision heavily relies on large scale training datasets. These richly annotated datasets help the network learn discriminative visual features. Collecting and annotating such…

Lane detection algorithms have been the key enablers for a fully-assistive and autonomous navigation systems. In this paper, a novel and pragmatic approach for lane detection is proposed using a convolutional neural network (CNN) model…

Real-time and precise traffic flow prediction is vital for the efficiency of intelligent transportation systems. Traditional methods often employ graph neural networks (GNNs) with predefined graphs to describe spatial correlations among…

This paper presents a new methodology to craft navigation functions for nonlinear systems with stochastic uncertainty. The method relies on the transformation of the Hamilton-Jacobi-Bellman (HJB) equation into a linear partial differential…

Neural networks are often regarded as universal equations that can estimate any function. This flexibility, however, comes with the drawback of high complexity, rendering these networks into black box models, which is especially relevant in…

We explore the possibility of using a single monocular camera to forecast the time to collision between a suitcase-shaped robot being pushed by its user and other nearby pedestrians. We develop a purely image-based deep learning approach…

An efficient path planner for autonomous car-like vehicles should handle the strong kinematic constraints, particularly in confined spaces commonly encountered while maneuvering in city traffic, and should enable rapid planning, as the city…

In this paper we developed a hierarchical network model, called Hierarchical Prediction Network (HPNet), to understand how spatiotemporal memories might be learned and encoded in the recurrent circuits in the visual cortical hierarchy for…

Autonomous navigation in partially observable environments requires agents to reason beyond immediate sensor input, exploit occlusion, and ensure safety while progressing toward a goal. These challenges arise in many robotics domains, from…

We present a novel efficient object detection and localization framework based on the probabilistic bisection algorithm. A Convolutional Neural Network (CNN) is trained and used as a noisy oracle that provides answers to input query images.…

In recent years, convolutional neural networks (CNNs) have experienced an increasing interest in their ability to perform a fast approximation of effective hydrodynamic parameters in porous media research and applications. This paper…

With the recent surge of interest in using robotics and automation for civil purposes, providing safety and performance guarantees has become extremely important. In the past, differential games have been successfully used for the analysis…

Convolutional Neural Network (CNN) have been widely used in image classification. Over the years, they have also benefited from various enhancements and they are now considered as state of the art techniques for image like data. However,…