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

Racing demands each vehicle to drive at its physical limits, when any safety infraction could lead to catastrophic failure. In this work, we study the problem of safe reinforcement learning (RL) for autonomous racing, using the vehicle's…

We present a reward-predictive, model-based deep learning method featuring trajectory-constrained visual attention for local planning in visual navigation tasks. Our method learns to place visual attention at locations in latent image space…

Convolutional neural network (CNN) has drawn increasing interest in visual tracking owing to its powerfulness in feature extraction. Most existing CNN-based trackers treat tracking as a classification problem. However, these trackers are…

Safety assurance is a fundamental requirement for deploying learning-enabled autonomous systems. Hamilton-Jacobi (HJ) reachability analysis is a fundamental method for formally verifying safety and generating safe controllers. However,…

Safe Multi-Agent Motion Planning (MAMP) is a significant challenge in robotics. Despite substantial advancements, existing methods often face a dilemma. Decentralized algorithms typically rely on predicting the behavior of other agents,…

Modern vision-based reinforcement learning techniques often use convolutional neural networks (CNN) as universal function approximators to choose which action to take for a given visual input. Until recently, CNNs have been treated like…

We provide a novel uniform convergence guarantee for DeepReach, a deep learning-based method for solving Hamilton-Jacobi-Isaacs (HJI) equations associated with reachability analysis. Specifically, we show that the DeepReach algorithm, as…

Obstacle avoidance is crucial for mobile robots' navigation in both known and unknown environments. This research designs, trains, and tests two custom Convolutional Neural Networks (CNNs), using color and depth images from a depth camera…

As perception-based controllers for autonomous systems become increasingly popular in the real world, it is important that we can formally verify their safety and performance despite perceptual uncertainty. Unfortunately, the verification…

In this paper, we propose a hybrid MPC local planner that uses a learning-based approximation of a time-varying safe set, derived from local observations and applied as the MPC terminal constraint. This set can be represented as a…

This article presents a Hamilton--Jacobi (HJ) reachability framework for a two--satellite collision avoidance problem operating in the same circular orbit, where relative motion is modeled in the radial--tangential--normal (RTN) frame using…

Objective-oriented navigation(ObjNav) enables robot to navigate to target object directly and autonomously in an unknown environment. Effective perception in navigation in unknown environment is critical for autonomous robots. While…

Most Vision-and-Language Navigation (VLN) algorithms are prone to making inaccurate decisions due to their lack of visual common sense and limited reasoning capabilities. To address this issue, we propose a Hierarchical Spatial Proximity…

Image-goal navigation steers an agent to a target location specified by an image in unseen environments. Existing methods primarily handle this task by learning an end-to-end navigation policy, which compares the similarities of target and…

Robust local navigation in unstructured and dynamic environments remains a significant challenge for humanoid robots, requiring a delicate balance between long-range navigation targets and immediate motion stability. In this paper, we…

The dynamics of droplet collisions in microchannels are inherently complex, governed by multiple interdependent physical and geometric factors. Understanding and predicting the outcomes of these collisions-whether coalescence, reverse-back,…

With the continuous advancement in autonomous systems, it becomes crucial to provide robust safety guarantees for safety-critical systems. Hamilton-Jacobi Reachability Analysis is a formal verification method that guarantees performance and…

In this paper, we present a novel path planning algorithm to achieve fast path planning in complex environments. Most existing path planning algorithms are difficult to quickly find a feasible path in complex environments or even fail.…

The rapid growth of research in exploiting machine learning to predict chaotic systems has revived a recent interest in Hamiltonian Neural Networks (HNNs) with physical constraints defined by the Hamilton's equations of motion, which…

In this paper, we present a novel information processing architecture for safe deep learning-based visual navigation of autonomous systems. The proposed information processing architecture is used to support a perceptual attention-based…