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

Traversability estimation in rugged, unstructured environments remains a challenging problem in field robotics. Often, the need for precise, accurate traversability estimation is in direct opposition to the limited sensing and compute…

Provably safe and scalable multi-vehicle trajectory planning is an important and urgent problem. Hamilton-Jacobi (HJ) reachability is an ideal tool for analyzing such safety-critical systems and has been successfully applied to several…

In this paper, we present a framework for enabling autonomous vehicles to interact with cyclists in a manner that balances safety and optimality. The approach integrates Hamilton-Jacobi reachability analysis with deep Q-learning to jointly…

This paper proposes a new method, that we call VisualBackProp, for visualizing which sets of pixels of the input image contribute most to the predictions made by the convolutional neural network (CNN). The method heavily hinges on exploring…

Human motion prediction is still an open problem extremely important for autonomous driving and safety applications. Due to the complex spatiotemporal relation of motion sequences, this remains a challenging problem not only for movement…

High-resolution representations are important for vision-based robotic grasping problems. Existing works generally encode the input images into low-resolution representations via sub-networks and then recover high-resolution…

Hamilton-Jacobi (HJ) reachability analysis is a powerful tool for analyzing the safety of autonomous systems. However, the provided safety assurances are often predicated on the assumption that once deployed, the system or its environment…

The availability of a robust map-based localization system is essential for the operation of many autonomously navigating vehicles. Since uncertainty is an inevitable part of perception, it is beneficial for the robustness of the robot to…

On-line motion planning in unknown environments is a challenging problem as it requires (i) ensuring collision avoidance and (ii) minimizing the motion time, while continuously predicting where to go next. Previous approaches to on-line…

Training a robot that engages with people is challenging; it is expensive to directly involve people in the training process, which requires numerous data samples. This paper presents an alternative approach for resolving this problem. We…

This paper presents a novel keypoints-based attention mechanism for visual recognition in still images. Deep Convolutional Neural Networks (CNNs) for recognizing images with distinctive classes have shown great success, but their…

Guiding robots can not only detect close-range obstacles like other guiding tools, but also extend its range to perceive the environment when making decisions. However, most existing works over-simplified the interaction between human…

In the realm of construction safety, the detection of personal protective equipment, such as helmets, plays a critical role in preventing workplace injuries. This paper details the development and evaluation of convolutional neural networks…

Learning visuomotor control policies in robotic systems is a fundamental problem when aiming for long-term behavioral autonomy. Recent supervised-learning-based vision and motion perception systems, however, are often separately built with…

Trajectory prediction is a fundamental problem and challenge for autonomous vehicles. Early works mainly focused on designing complicated architectures for deep-learning-based prediction models in normal-illumination environments, which…

Natural environments such as forests and grasslands are challenging for robotic navigation because of the false perception of rigid obstacles from high grass, twigs, or bushes. In this work, we propose Wild Visual Navigation (WVN), an…

Currently, reliable and accurate ship detection in optical remote sensing images is still challenging. Even the state-of-the-art convolutional neural network (CNN) based methods cannot obtain very satisfactory results. To more accurately…

Recently, Convolutional Neural Networks (CNNs) have been widely used to solve the illuminant estimation problem and have often led to state-of-the-art results. Standard approaches operate directly on the input image. In this paper, we argue…

Reliable estimation of terrain traversability is critical for the successful deployment of autonomous systems in wild, outdoor environments. Given the lack of large-scale annotated datasets for off-road navigation, strictly-supervised…

Network controllability robustness reflects how well a networked system can maintain its controllability against destructive attacks. Its measure is quantified by a sequence of values that record the remaining controllability of the network…