相关论文: Real-Time Optimal Guidance and Control for Interpl…

Recent works on ride-sharing order dispatching have highlighted the importance of taking into account both the spatial and temporal dynamics in the dispatching process for improving the transportation system efficiency. At the same time,…

Space exploration missions have seen use of increasingly sophisticated robotic systems with ever more autonomy. Deep learning promises to take this even a step further, and has applications for high-level tasks, like path planning, as well…

Autonomy is a key challenge for future space exploration endeavours. Deep Reinforcement Learning holds the promises for developing agents able to learn complex behaviours simply by interacting with their environment. This paper investigates…

Machine learning, and eventually true artificial intelligence techniques, are extremely important advancements in astrophysics and astronomy. We explore the application of deep learning using neural networks in order to automate the…

We introduce Hyper Input Convex Neural Networks (HyCNNs), a novel neural network architecture designed for learning convex functions. HyCNNs combine the principles of Maxout networks with input convex neural networks (ICNNs) to create a…

We present an imitation learning approach for spacecraft guidance, navigation, and control(GNC) that achieves high performance from limited data. Using only 100 expert demonstrations, equivalent to 6,300 environment interactions, our…

Navigation is a fundamental capability for mobile robots. While the current trend is to use learning-based approaches to replace traditional geometry-based methods, existing end-to-end learning-based policies often struggle with 3D spatial…

The performance of ultrasound elastography (USE) heavily depends on the accuracy of displacement estimation. Recently, Convolutional Neural Networks (CNN) have shown promising performance in optical flow estimation and have been adopted for…

Trajectory optimization is a cornerstone of modern robot autonomy, enabling systems to compute trajectories and controls in real-time while respecting safety and physical constraints. However, it has seen limited usage in spaceflight…

Modelling robot dynamics accurately is essential for control, motion optimisation and safe human-robot collaboration. Given the complexity of modern robotic systems, dynamics modelling remains non-trivial, mostly in the presence of…

Input-Convex Neural Networks (ICNNs) are networks that guarantee convexity in their input-output mapping. These networks have been successfully applied for energy-based modelling, optimal transport problems and learning invariances. The…

With the increasing proportion of renewable energy in the generation side, it becomes more difficult to accurately predict the power generation and adapt to the large deviations between the optimal dispatch scheme and the day-ahead…

This paper presents a vision-based modularized drone racing navigation system that uses a customized convolutional neural network (CNN) for the perception module to produce high-level navigation commands and then leverages a…

Recently, the pretrain-finetuning paradigm has attracted tons of attention in graph learning community due to its power of alleviating the lack of labels problem in many real-world applications. Current studies use existing techniques, such…

Attitude control is a fundamental aspect of spacecraft operations. Model Predictive Control (MPC) has emerged as a powerful strategy for these tasks, relying on accurate models of the system dynamics to optimize control actions over a…

In this paper, we propose a new method called ProfWeight for transferring information from a pre-trained deep neural network that has a high test accuracy to a simpler interpretable model or a very shallow network of low complexity and a…

Transfer learning with models pretrained on ImageNet has become a standard practice in computer vision. Transfer learning refers to fine-tuning pretrained weights of a neural network on a downstream task, typically unrelated to ImageNet.…

Efficient model selection for identifying a suitable pre-trained neural network to a downstream task is a fundamental yet challenging task in deep learning. Current practice requires expensive computational costs in model training for…

Low-thrust trajectories play a crucial role in optimizing scientific output and cost efficiency in asteroid belt missions. Unlike high-thrust transfers, low-thrust trajectories require solving complex optimal control problems. This…

Training a Deep Neural Network (DNN) from scratch requires a large amount of labeled data. For a classification task where only small amount of training data is available, a common solution is to perform fine-tuning on a DNN which is…