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

We present an interpretable framework for path prediction that leverages dependencies between agents' behaviors and their spatial navigation environment. We exploit two sources of information: the past motion trajectory of the agent of…

In autonomous navigation of mobile robots, sensors suffer from massive occlusion in cluttered environments, leaving significant amount of space unknown during planning. In practice, treating the unknown space in optimistic or pessimistic…

Human motion modeling is a classic problem in computer vision and graphics. Challenges in modeling human motion include high dimensional prediction as well as extremely complicated dynamics.We present a novel approach to human motion…

This paper introduces a novel framework for robotic vision-based navigation that integrates Hybrid Neural Networks (HNNs) with Spiking Neural Network (SNN)-based filtering to enhance situational awareness for unmodeled obstacle detection…

Recurrent neural networks (RNNs) have gained a great deal of attention in solving sequential learning problems. The learning of long-term dependencies, however, remains challenging due to the problem of a vanishing or exploding hidden…

Endowing robots with human-like physical reasoning abilities remains challenging. We argue that existing methods often disregard spatio-temporal relations and by using Graph Neural Networks (GNNs) that incorporate a relational inductive…

We propose an online visual tracking algorithm by learning discriminative saliency map using Convolutional Neural Network (CNN). Given a CNN pre-trained on a large-scale image repository in offline, our algorithm takes outputs from hidden…

To reduce the computational cost of humanoid motion generation, we introduce a new approach to representing robot kinematic reachability: the differentiable reachability map. This map is a scalar-valued function defined in the task space…

With the recent surge of interest in UAVs for civilian services, the importance of developing tractable multi-agent analysis techniques that provide safety and performance guarantees have drastically increased. Hamilton-Jacobi (HJ)…

Robot navigation traditionally relies on building an explicit map that is used to plan collision-free trajectories to a desired target. In deformable, complex terrain, using geometric-based approaches can fail to find a path due to…

Convolutional Neural Networks (CNNs) are successfully used for the important automotive visual perception tasks including object recognition, motion and depth estimation, visual SLAM, etc. However, these tasks are typically independently…

Recently using convolutional neural networks (CNNs) has gained popularity in visual tracking, due to its robust feature representation of images. Recent methods perform online tracking by fine-tuning a pre-trained CNN model to the specific…

Despite decades of efforts, robot navigation in a real scenario with volatility, uncertainty, complexity, and ambiguity (VUCA for short), remains a challenging topic. Inspired by the central nervous system (CNS), we propose a hierarchical…

Presented is a method to compute certain classes of Hamilton-Jacobi equations that result from optimal control and trajectory generation problems with time delays. Many robotic control and trajectory problems have limited information of the…

We present a novel approach to generate collision-free trajectories for a robot operating in close proximity with a human obstacle in an occluded environment. The self-occlusions of the robot can significantly reduce the accuracy of human…

This work introduces a robot navigation controller that combines event cameras and other sensors with reinforcement learning to enable real-time human-centered navigation and obstacle avoidance. Unlike conventional image-based controllers,…

Lane segmentation is a challenging issue in autonomous driving system designing because lane marks show weak textural consistency due to occlusion or extreme illumination but strong geometric continuity in traffic images, from which general…

Location trajectories provide valuable insights for applications from urban planning to pandemic control. However, mobility data can also reveal sensitive information about individuals, such as political opinions, religious beliefs, or…

We consider the problem of navigating a mobile robot towards a target in an unknown environment that is endowed with visual sensors, where neither the robot nor the sensors have access to global positioning information and only use…

This paper introduces SmartBSP, an advanced self-supervised learning framework for real-time path planning and obstacle avoidance in autonomous robotics navigating through complex environments. The proposed system integrates Proximal Policy…