相关论文: Every Action Based Sensor

Sensorimotor contingency theory offers a promising account of the nature of perception, a topic rarely addressed in the robotics community. We propose a developmental framework to address the problem of the autonomous acquisition of…

We are witnessing significant progress on perception models, specifically those trained on large-scale internet images. However, efficiently generalizing these perception models to unseen embodied tasks is insufficiently studied, which will…

Due to burdensome data requirements, learning from demonstration often falls short of its promise to allow users to quickly and naturally program robots. Demonstrations are inherently ambiguous and incomplete, making correct generalization…

Imitation Learning offers a promising approach to learn directly from data without requiring explicit models, simulations, or detailed task definitions. During inference, actions are sampled from the learned distribution and executed on the…

This paper proposes a robot action planning scheme that provides an efficient and probabilistically safe plan for a robot interacting with an unconcerned human -- someone who is either unaware of the robot's presence or unwilling to engage…

In ground-view object change detection, the recently emerging mapless navigation has great potential to navigate a robot to objects distantly detected (e.g., books, cups, clothes) and acquire high-resolution object images, to identify their…

In shared autonomy, user input and robot autonomy are combined to control a robot to achieve a goal. Often, the robot does not know a priori which goal the user wants to achieve, and must both predict the user's intended goal, and assist in…

What is the difference between goal-directed and habitual behavior? We propose a novel computational framework of decision making with Bayesian inference, in which everything is integrated as an entire neural network model. The model learns…

The ability to accurately predict others' behavior is central to the safety and efficiency of interactive robotics. Unfortunately, robots often lack access to key information on which these predictions may hinge, such as other agents'…

Motivated by the Internet-of-things and sensor networks for cyberphysical systems, the problem of dynamic sensor activation for the centralized tracking of an i.i.d. time-varying process is examined. The tradeoff is between energy…

In this paper, we present foundations of the Socio-physical Model of Activities (SOMA). SOMA represents both the physical as well as the social context of everyday activities. Such tasks seem to be trivial for humans, however, they pose…

The pattern formation task is commonly seen in a multi-robot system. In this paper, we study the problem of forming complex shapes with functionally limited mobile robots, which have to rely on other robots to precisely locate themselves.…

We present a formal model developed to reason about topologies created by sensor ranges. This model is used to formalise the topological aspects of an existing counting algorithm to estimate the number of targets in the area covered by the…

Motions carry information about the underlying task being executed. Previous work in human motion analysis suggests that complex motions may result from the composition of fundamental submovements called movemes. The existence of finite…

AI models that predict the future behavior of a system (a.k.a. predictive AI models) are central to intelligent decision-making. However, decision-making using predictive AI models often results in suboptimal performance. This is primarily…

Sampling-based motion planning is the predominant paradigm in many real-world robotic applications, but its performance is immensely dependent on the quality of the samples. The majority of traditional planners are inefficient as they use…

Virtual sensors replace expensive physical sensors in critical applications through machine learning by predicting target signals from available measurements. Existing virtual sensor approaches require application-specific models with…

Agents interacting with an incompletely known world need to be able to reason about the effects of their actions, and to gain further information about that world they need to use sensors of some sort. Unfortunately, both the effects of…

Reinforcement learning is an appropriate and successful method to robustly perform low-level robot control under noisy conditions. Symbolic action planning is useful to resolve causal dependencies and to break a causally complex problem…

Autonomous driving (AD) systems are often built and tested in a modular fashion, where the performance of different modules is measured using task-specific metrics. These metrics should be chosen so as to capture the downstream impact of…