相关论文: Adaptive Meta-Learning for Identification of Rover…

Traversability assessment of deformable terrain is vital for safe rover navigation on planetary surfaces. Machine learning (ML) is a powerful tool for traversability prediction but faces predictive uncertainty. This uncertainty leads to…

Real-world robots must operate under evolving dynamics caused by changing operating conditions, external disturbances, and unmodeled effects. These may appear as gradual drifts, transient fluctuations, or abrupt shifts, demanding real-time…

Due to changes in model dynamics or unexpected disturbances, an autonomous robotic system may experience unforeseen challenges during real-world operations which may affect its safety and intended behavior: in particular actuator and system…

Reinforcement learning of real-world tasks is very data inefficient, and extensive simulation-based modelling has become the dominant approach for training systems. However, in human-robot interaction and many other real-world settings,…

Jumping constitutes an essential component of quadruped robots' locomotion capabilities, which includes dynamic take-off and adaptive landing. Existing quadrupedal jumping studies mainly focused on the stance and flight phase by assuming a…

Autonomous off-road driving is challenging as risky actions taken by the robot may lead to catastrophic damage. As such, developing controllers in simulation is often desirable as it provides a safer and more economical alternative.…

Mobile robots should be capable of planning cost-efficient paths for autonomous navigation. Typically, the terrain and robot properties are subject to variations. For instance, properties of the terrain such as friction may vary across…

This paper develops a gradient-based meta-learning framework for real-time control of waveguided pinching-antenna systems under user-location uncertainty and physical-layer security (PLS) constraints. A probabilistic system model is…

Transporting suspended payloads is challenging for autonomous aerial vehicles because the payload can cause significant and unpredictable changes to the robot's dynamics. These changes can lead to suboptimal flight performance or even…

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…

We propose \textit{Meta-Regularization}, a novel approach for the adaptive choice of the learning rate in first-order gradient descent methods. Our approach modifies the objective function by adding a regularization term on the learning…

Humanoid robots offer significant advantages for search and rescue tasks, thanks to their capability to traverse rough terrains and perform transportation tasks. In this study, we present a task and motion planning framework for search and…

Human mesh recovery from single images remains challenging due to inherent depth ambiguity and limited generalization across domains. While recent methods combine regression and optimization approaches, they struggle with poor…

Reinforcement learning methods can achieve significant performance but require a large amount of training data collected on the same robotic platform. A policy trained with expensive data is rendered useless after making even a minor change…

A key component of cognitive radar is the ability to generalize, or achieve consistent performance across a range of sensing environments, since aspects of the physical scene may vary over time. This presents a challenge for learning-based…

Reinforcement learning (RL)-based motion imitation methods trained on demonstration data can effectively learn natural and expressive motions with minimal reward engineering but often struggle to generalize to novel environments. We address…

Autonomous mobile robots require accurate human motion predictions to safely and efficiently navigate among pedestrians, whose behavior may adapt to environmental changes. This paper introduces a self-supervised continual learning framework…

Traditional imitation learning provides a set of methods and algorithms to learn a reward function or policy from expert demonstrations. Learning from demonstration has been shown to be advantageous for navigation tasks as it allows for…

Modeling how a robot interacts with the environment around it is an important prerequisite for designing control and planning algorithms. In fact, the performance of controllers and planners is highly dependent on the quality of the model.…

Accurately modeling robot dynamics is crucial to safe and efficient motion control. In this paper, we develop and apply an iterative learning semi-parametric model, with a neural network, to the task of autonomous racing with a Model…