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

The current paper presents how a predictive coding type deep recurrent neural networks can generate vision-based goal-directed plans based on prior learning experience by examining experiment results using a real arm robot. The proposed…

Deep reinforcement learning enables algorithms to learn complex behavior, deal with continuous action spaces and find good strategies in environments with high dimensional state spaces. With deep reinforcement learning being an active area…

This work provides a Deep Reinforcement Learning approach to solving a periodic review inventory control system with stochastic vendor lead times, lost sales, correlated demand, and price matching. While this dynamic program has…

Visual-inertial systems have been widely studied and applied in the last two decades (from the early 2000s to the present), mainly due to their low cost and power consumption, small footprint, and high availability. Such a trend…

Traditional approaches to extrinsic calibration use fiducial markers and learning-based approaches rely heavily on simulation data. In this work, we present a learning-based markerless extrinsic calibration system that uses a depth camera…

Imitation learning (IL) has achieved considerable success in solving complex sequential decision-making problems. However, current IL methods mainly assume that the environment for learning policies is the same as the environment for…

This paper presents MEMROC (Multi-Eye to Mobile RObot Calibration), a novel motion-based calibration method that simplifies the process of accurately calibrating multiple cameras relative to a mobile robot's reference frame. MEMROC utilizes…

This paper explores the integration of incremental curriculum learning (ICL) with deep reinforcement learning (DRL) techniques to facilitate mobile robot navigation through task-based human instruction. By adopting a curriculum that mirrors…

The bioinspired event camera, distinguished by its exceptional temporal resolution, high dynamic range, and low power consumption, has been extensively studied in recent years for motion estimation, robotic perception, and object detection.…

Learning-based approaches, such as reinforcement learning (RL) and imitation learning (IL), have indicated superiority over rule-based approaches in complex urban autonomous driving environments, showing great potential to make intelligent…

Modern radio telescopes produce unprecedented amounts of data, which are passed through many processing pipelines before the delivery of scientific results. Hyperparameters of these pipelines need to be tuned by hand to produce optimal…

Eye-in-hand camera calibration is a fundamental and long-studied problem in robotics. We present a study on using learning-based methods for solving this problem online from a single RGB image, whilst training our models with entirely…

The accurate and fast estimation of velocity models is crucial in seismic imaging. Conventional methods, like Tomography and Full-Waveform Inversion (FWI), obtain appropriate velocity models; however, they require intense and specialized…

Autonomous navigation is an essential capability of smart mobility for mobile robots. Traditional methods must have the environment map to plan a collision-free path in workspace. Deep reinforcement learning (DRL) is a promising technique…

In this paper, we explore deep reinforcement learning algorithms for vision-based robotic grasping. Model-free deep reinforcement learning (RL) has been successfully applied to a range of challenging environments, but the proliferation of…

The primary goal of motion planning is to generate safe and efficient trajectories for vehicles. Traditionally, motion planning models are trained using imitation learning to mimic the behavior of human experts. However, these models often…

Calibration error is commonly adopted for evaluating the quality of uncertainty estimators in deep neural networks. In this paper, we argue that such a metric is highly beneficial for training predictive models, even when we do not…

End-to-end reinforcement learning on images showed significant progress in the recent years. Data-based approach leverage data augmentation and domain randomization while representation learning methods use auxiliary losses to learn…

Learning from Demonstrations (LfD) and Reinforcement Learning (RL) have enabled robot agents to accomplish complex tasks. Reward Machines (RMs) enhance RL's capability to train policies over extended time horizons by structuring high-level…

Estimates of predictive uncertainty are important for accurate model-based planning and reinforcement learning. However, predictive uncertainties---especially ones derived from modern deep learning systems---can be inaccurate and impose a…