相关论文: Interpretable Goal-based Prediction and Planning f…

A human-centered robot needs to reason about the cognitive limitation and potential irrationality of its human partner to achieve seamless interactions. This paper proposes an anytime game-theoretic planner that integrates iterative…

Robotic systems are more present in our society everyday. In human-robot environments, it is crucial that end-users may correctly understand their robotic team-partners, in order to collaboratively complete a task. To increase action…

In this paper we explore the application of simultaneous move Monte Carlo Tree Search (MCTS) based online framework for tactical maneuvering between two unmanned aircrafts. Compared to other techniques, MCTS enables efficient search over…

Intelligent physical systems as embodied cognitive systems must perform high-level reasoning while concurrently managing an underlying control architecture. The link between cognition and control must manage the problem of converting…

Planning robust robot manipulation requires good forward models that enable robust plans to be found. This work shows how to achieve this using a forward model learned from robot data to plan push manipulations. We explore learning methods…

Current end-to-end deep learning driving models have two problems: (1) Poor generalization ability of unobserved driving environment when diversity of training driving dataset is limited (2) Lack of accident explanation ability when driving…

In the past decades, we have witnessed significant progress in the domain of autonomous driving. Advanced techniques based on optimization and reinforcement learning (RL) become increasingly powerful at solving the forward problem: given…

Beam search is the go-to method for decoding auto-regressive machine translation models. While it yields consistent improvements in terms of BLEU, it is only concerned with finding outputs with high model likelihood, and is thus agnostic to…

This paper presents a novel framework for automatic learning of complex strategies in human decision making. The task that we are interested in is to better facilitate long term planning for complex, multi-step events. We observe temporal…

Autonomous navigation in crowded, complex urban environments requires interacting with other agents on the road. A common solution to this problem is to use a prediction model to guess the likely future actions of other agents. While this…

With the practical implementation of connected and autonomous vehicles (CAVs), the traffic system is expected to remain a mix of CAVs and human-driven vehicles (HVs) for the foreseeable future. To enhance safety and traffic efficiency, the…

Planning problems are among the most important and well-studied problems in artificial intelligence. They are most typically solved by tree search algorithms that simulate ahead into the future, evaluate future states, and back-up those…

To navigate safely in urban environments, an autonomous vehicle (ego vehicle) must understand and anticipate its surroundings, in particular the behavior and intents of other road users (neighbors). Most of the times, multiple decision…

End-to-end style autonomous driving models have been developed recently. These models lack interpretability of decision-making process from perception to control of the ego vehicle, resulting in anxiety for passengers. To alleviate it, it…

Traffic flow simulation within the domain of intelligent transportation systems is garnering significant attention, and generating realistic, diverse, and human-like traffic patterns presents critical challenges that must be addressed.…

Trajectory and control secrecy is an important issue in robotics security. This paper proposes a novel algorithm for the control input inference of a mobile agent without knowing its control objective. Specifically, the algorithm first…

While intelligence of autonomous vehicles (AVs) has significantly advanced in recent years, accidents involving AVs suggest that these autonomous systems lack gracefulness in driving when interacting with human drivers. In the setting of a…

For tasks conducted in unknown environments with efficiency requirements, real-time navigation of multi-robot systems remains challenging due to unfamiliarity with surroundings.In this paper, we propose a novel multi-robot collaborative…

In commentary driving, drivers verbalise their observations, assessments and intentions. By speaking out their thoughts, both learning and expert drivers are able to create a better understanding and awareness of their surroundings. In the…

Convolutional Neural Networks (CNN) have been successfully applied to autonomous driving tasks, many in an end-to-end manner. Previous end-to-end steering control methods take an image or an image sequence as the input and directly predict…