相关论文: Learning Trajectories for Visual-Inertial System C…

Accurate calibration of sensor extrinsic parameters for ground robotic systems (i.e., relative poses) is crucial for ensuring spatial alignment and achieving high-performance perception. However, existing calibration methods typically…

Visual-inertial fusion is crucial for a large amount of intelligent and autonomous applications, such as robot navigation and augmented reality. To bootstrap and achieve optimal state estimation, the spatial-temporal displacements between…

Underactuated systems like sea vessels have degrees of motion that are insufficiently matched by a set of independent actuation forces. In addition, the underlying trajectory-tracking control problems grow in complexity in order to decide…

A generalist robot must be able to complete a variety of tasks in its environment. One appealing way to specify each task is in terms of a goal observation. However, learning goal-reaching policies with reinforcement learning remains a…

Deep reinforcement learning (DRL) has been proven to be a powerful paradigm for learning complex control policy autonomously. Numerous recent applications of DRL in robotic grasping have successfully trained DRL robotic agents end-to-end,…

The advances in deep reinforcement learning recently revived interest in data-driven learning based approaches to navigation. In this paper we propose to learn viewpoint invariant and target invariant visual servoing for local mobile robot…

Recognition of surgical gesture is crucial for surgical skill assessment and efficient surgery training. Prior works on this task are based on either variant graphical models such as HMMs and CRFs, or deep learning models such as Recurrent…

Iterative linear quadratic regulator (iLQR) has gained wide popularity in addressing trajectory optimization problems with nonlinear system models. However, as a model-based shooting method, it relies heavily on an accurate system model to…

We present a reward-predictive, model-based deep learning method featuring trajectory-constrained visual attention for local planning in visual navigation tasks. Our method learns to place visual attention at locations in latent image space…

Enabling autonomous robots to interact in unstructured environments with dynamic objects requires manipulation capabilities that can deal with clutter, changes, and objects' variability. This paper presents a comparison of different…

As surgical interventions trend towards minimally invasive approaches, Concentric Tube Robots (CTRs) have been explored for various interventions such as brain, eye, fetoscopic, lung, cardiac and prostate surgeries. Arranged concentrically,…

Precision is a crucial performance indicator for robot arms, as high precision manipulation allows for a wider range of applications. Traditional methods for improving robot arm precision rely on error compensation. However, these methods…

In this paper, we introduce a novel method to capture visual trajectories for navigating an indoor robot in dynamic settings using streaming image data. First, an image processing pipeline is proposed to accurately segment trajectories from…

Classical pixel-based Visual Servoing (VS) approaches offer high accuracy but suffer from a limited convergence area due to optimization nonlinearity. Modern deep learning-based VS methods overcome traditional vision issues but lack…

State-of-the-art visual recognition and detection systems increasingly rely on large amounts of training data and complex classifiers. Therefore it becomes increasingly expensive both to manually annotate datasets and to keep running times…

While deep learning has had significant successes in computer vision thanks to the abundance of visual data, collecting sufficiently large real-world datasets for robot learning can be costly. To increase the practicality of these…

Deep reinforcement learning has shown its advantages in real-time decision-making based on the state of the agent. In this stage, we solved the task of using a real robot to manipulate the cube to a given trajectory. The task is broken down…

This paper presents a novel motion and trajectory planning algorithm for nonholonomic mobile robots that uses recent advances in deep reinforcement learning. Starting from a random initial state, i.e., position, velocity and orientation,…

Two less addressed issues of deep reinforcement learning are (1) lack of generalization capability to new target goals, and (2) data inefficiency i.e., the model requires several (and often costly) episodes of trial and error to converge,…

Learning visuomotor control policies in robotic systems is a fundamental problem when aiming for long-term behavioral autonomy. Recent supervised-learning-based vision and motion perception systems, however, are often separately built with…