相关论文: Information-Theoretic Approach to Navigation for E…
We consider interactive learning and covering problems, in a setting where actions may incur different costs, depending on the response to the action. We propose a natural greedy algorithm for response-dependent costs. We bound the…
Real-time sentence comprehension imposes a significant load on working memory, as comprehenders must maintain contextual information to anticipate future input. While measures of such load have played an important role in psycholinguistic…
Visual exploration and smart data collection via autonomous vehicles is an attractive topic in various disciplines. Disturbances like wind significantly influence both the power consumption of the flying robots and the performance of the…
Categorization is an important topic both for biological and artificial neural networks. Here, we take an information theoretic approach to assess the efficiency of the representations induced by category learning. We show that one can…
This paper introduces a framework for modeling the cost of information acquisition based on the principle of cost-minimization. We study the reduced-form \emph{indirect cost} of information generated by the sequential minimization of a…
We present a simple yet effective progressive self-guided loss function to facilitate deep learning-based salient object detection (SOD) in images. The saliency maps produced by the most relevant works still suffer from incomplete…
We consider the online planning problem for a team of agents to discover and track an unknown and time-varying number of moving objects from onboard sensor measurements with uncertain measurement-object origins. Since the onboard sensors…
Autonomous navigation of mobile robots is an essential task for various industries. Sensor data is crucial to ensure safe and reliable navigation. However, sensor observations are often limited by different factors. Imagination can assist…
Active object detection, which aims to identify objects of interest through controlled camera movements, plays a pivotal role in real-world visual perception for autonomous robotic applications, such as manufacturing tasks (e.g., assembly…
Countries with access to large bodies of water often aim to protect their maritime transport by employing maritime surveillance systems. However, the number of available sensors (e.g., cameras) is typically small compared to the…
Decisions in automated logistic systems can be improved based on knowledge of real-time state of individual parts and also environmental factors. These knowledge can be obtained through travel time of edges by individual robots which…
An efficient policy search algorithm should estimate the local gradient of the objective function, with respect to the policy parameters, from as few trials as possible. Whereas most policy search methods estimate this gradient by observing…
To better understand the process by which humans make navigation decisions when tasked with multiple stopovers, we analyze motion data captured from shoppers in a grocery store. We discover several trends in the data that are consistent…
We consider information filtering, in which we face a stream of items too voluminous to process by hand (e.g., scientific articles, blog posts, emails), and must rely on a computer system to automatically filter out irrelevant items. Such…
This paper reports on developing an integrated framework for safety-aware informative motion planning suitable for legged robots. The information-gathering planner takes a dense stochastic map of the environment into account, while safety…
Low cost robots, such as vacuum cleaners or lawn mowers employ simplistic and often random navigation policies. Although a large number of sophisticated mapping and planning approaches exist, they require additional sensors like LIDAR…
Autonomous 3D environment exploration is a fundamental task for various applications such as navigation. The goal of exploration is to investigate a new environment and build its occupancy map efficiently. In this paper, we propose a new…
An important and emerging component of planetary exploration is sample retrieval and return to Earth. Obtaining and analyzing rock samples can provide unprecedented insight into the geology, geo-history and prospects for finding past life…
Recent advances in the field of machine learning have led to new ways for mobile robots to acquire advanced navigational capabilities. However, these learning-based methods raise the possibility that learned navigation behaviors may not…
Active perception approaches select future viewpoints by using some estimate of the information gain. An inaccurate estimate can be detrimental in critical situations, e.g., locating a person in distress. However the true information gained…